TWI822499B - Control method and system for hydraulic drive device - Google Patents

Control method and system for hydraulic drive device Download PDF

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TWI822499B
TWI822499B TW111145745A TW111145745A TWI822499B TW I822499 B TWI822499 B TW I822499B TW 111145745 A TW111145745 A TW 111145745A TW 111145745 A TW111145745 A TW 111145745A TW I822499 B TWI822499 B TW I822499B
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hydraulic
motor
drive device
controller
pressure
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TW202421924A (en
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林國偉
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財團法人金屬工業研究發展中心
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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

液壓驅動裝置的控制方法及系統Control method and system for hydraulic drive device

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 hydraulic drive device 100 and a controller 200. The hydraulic drive device 100 has a motor drive device 10, an electric motor 20, a hydraulic pump 30, and a sensor. The controller 200 is used to control the hydraulic drive device 100.

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 motor driving device 10 is electrically connected to the electric motor 20 and provides a working voltage to control a motor speed rpm of the electric motor 20. When the working voltage is higher, the motor speed rpm increases; conversely, when the working voltage is low, Motor speed rpm drops.

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 electric motor 20 provides power to drive the hydraulic pump 30 to operate, thereby controlling the rotation speed of the hydraulic pump 30 . The oil suction port and oil outlet of the hydraulic pump 30 are connected to hydraulic pipelines. A plurality of control valves 31 with different functions are provided on the hydraulic pipeline according to requirements. These control valves 31 include but are not limited to, for example, pressure control valves, flow control valves, etc. Control valves, directional control valves, etc. are used to control the pressure, flow or movement direction of hydraulic oil respectively. The hydraulic oil in the hydraulic pipeline can push at least one hydraulic cylinder 51, 52. The following description of this article takes a heavy-load hydraulic cylinder 51 and a light-load hydraulic cylinder 52 as an example, but is not limited to this number or type.

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 sensor group 40 includes one or more sensors for detecting status information of the hydraulic oil. In this embodiment, the sensor group 40 includes a pressure sensor 41 and a temperature sensor 42. The pressure sensor 41 is used to detect the total hydraulic pressure P, and the temperature sensor 42 is used to detect the total hydraulic pressure P. Detect the temperature T of the hydraulic oil; in one embodiment, the pressure sensor 41 is disposed at the oil outlet of the hydraulic pump 30 to sense the total hydraulic pressure P. The temperature sensor 42 can be disposed on the hydraulic pipe. Any position in the road to sense the temperature T of the hydraulic oil.

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 controller 200 is electrically connected to the motor driving device 10, the sensor group 40 and the control valves 31. The controller 200 can output a motor control command S1 to the motor driving device 10 to cause the motor to drive The device 10 controls the motor speed rpm of the electric motor 20 according to the motor control command S1; and the controller 200 also receives the hydraulic oil status information measured from the sensor group 40, such as receiving the information measured from the pressure sensor 41. The total hydraulic pressure P and the hydraulic oil temperature T measured by the temperature sensor 42; the controller 200 also outputs control valve instructions to each control valve 31, thereby controlling the actuation of the hydraulic cylinders 51 and 52.

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 controller 200 receives the status information of the hydraulic oil detected by the sensor group 40, where the status information of the hydraulic oil includes the total hydraulic pressure P and the hydraulic oil temperature T, and determines that the total hydraulic pressure P is less than When a preset reference hydraulic pressure value is reached, a slow-start motor control command S1 is output to the motor driving device 10 so that the motor driving device 10 controls the electric motor 20 to maintain operation at a basic rotation speed. Because when the system is initially started, the total hydraulic pressure P has not yet reached the reference hydraulic value, the controller 200 controls the electric motor 20 to start slowly to gradually increase the total hydraulic pressure P, so that the electric motor 20 can be maintained at the basic speed, thereby saving money. Electricity.

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 controller 200 determines whether a hydraulic cylinder operation command input by the user is received. If so, the controller 200 outputs a motor control command S1 corresponding to the hydraulic operation command to the motor driving device 10, and the motor driving device 10. Control the speed of the electric motor 20 to increase the motor speed rpm to the required working speed; wherein, according to different hydraulic cylinder operation commands input by the user, the controller 200 can output corresponding motor control commands S1 respectively, so as to Obtain the corresponding motor speed rpm. For example, if the hydraulic cylinder operation command input by the user is used to start the heavy-duty hydraulic cylinder 51, the corresponding motor control command S1 can drive the electric motor 20 to generate a higher operating speed, To provide a relatively high total hydraulic pressure P. On the contrary, if the hydraulic cylinder operation command input by the user is used to start the light-load hydraulic cylinder 52, the corresponding motor control command S1 can drive the electric motor 20 to generate a lower pressure. Working speed to provide relatively low total hydraulic pressure P.

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 controller 200 outputs the control valve command S2 corresponding to the hydraulic operation signal to the relevant control valve 31, causing the corresponding hydraulic cylinders 51, 52 to start operating; it delays after the motor control command S1 The preset period T d is to ensure that the total hydraulic pressure P is sufficient, and then the control valve command S2 is output to control the operation of the hydraulic cylinders 51 and 52 to allow the hydraulic cylinders 51 and 52 to operate when the pressure is sufficient.

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 hydraulic cylinders 51 and 52, the controller 200 continues to receive the total hydraulic pressure P measured from the pressure sensor 41 and the hydraulic oil temperature T measured from the temperature sensor 42. The controller 200 The current total hydraulic pressure P is continuously monitored, and the motor speed rpm is appropriately dynamically adjusted according to the total hydraulic pressure P. The following uses two different embodiments to illustrate how to control the motor speed rpm based on the total hydraulic pressure P.

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 controller 200 determines whether the measured total hydraulic pressure P is lower than a preset lower limit of working pressure. Because when the hydraulic cylinders 51 and 52 start to operate, the total hydraulic pressure P will drop from an original target pressure value. If the drop is too large, it may affect the power output of the hydraulic cylinders 51 and 52. The target pressure value is Refers to the pressure value required to operate the hydraulic cylinders 51 and 52. The target pressure value is greater than the aforementioned reference pressure value. The required target pressure value can be set separately for different hydraulic cylinders 51 and 52. For example, heavy load The target pressure value of the hydraulic cylinder 51 can be greater than the target pressure value of the light-load hydraulic cylinder 52. When the hydraulic cylinders 51 and 52 are operating, if the monitored total hydraulic pressure P drops below or equal to the lower limit of the working pressure. At this time, the controller 200 outputs the motor control command S1 to the motor driving device 10 to increase the operating speed of the electric motor 20 again, so that the total hydraulic pressure P gradually returns to the target pressure value. For example, if the target pressure value is set to 200kg/cm 2 and the lower limit of the working pressure is set to 160kg/cm 2 , when the hydraulic cylinders 51 and 52 start to operate, once the total hydraulic pressure P drops to the preset working pressure When the lower limit value is 160kg/cm 2 , the controller 200 outputs a motor control command S1 to increase the rotation speed to the motor drive device 10 so that the total hydraulic pressure can be restored to the target pressure value of 200kg/cm 2 .

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 controller 200 calculates a pressure difference ΔP between the sensed total hydraulic pressure P and the target pressure value, and adjusts the electric motor 20 according to the pressure difference ΔP. The adjustment range of the working speed. When the pressure difference ΔP is larger, the electric motor 20 is increased to run at a relatively higher speed; when the pressure difference ΔP is smaller, the electric motor 20 is controlled to run at a relatively lower speed. For example, The electric motor 20 can reach the target pressure value of 200kg/cm 2 when running at 200rpm. When the controller 200 calculates that the pressure difference ΔP is 160kg/cm 2 , it controls the electric motor 20 to run at 2000rpm; when the pressure difference ΔP When P decreases to 80kg/cm 2 , the rotation speed of the electric motor 20 is controlled to decrease to 800rpm.

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 controller 200 detects that the total hydraulic pressure P continues to decrease or is even lower than a preset abnormal lower limit value, such as lower than 10kg/cm 2 , it means that there may be a hydraulic oil leakage problem. At this time, The controller 200 outputs a motor control command S1 for speed reduction to the motor drive device 10 to reduce the rotation speed of the electric motor 20 to avoid the risk of oil leakage, where the abnormal lower limit value will be lower than the working pressure lower limit value.

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 controller 200 determines whether the hydraulic oil temperature T measured by the temperature sensor 42 is higher than an upper temperature limit, if so, the controller 200 outputs a motor control command S1 for speed reduction to the motor. The driving device 10 is used to reduce the rotation speed of the electric motor 20 .

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 controller 200 receives a shutdown signal input by the user, the controller 200 outputs a motor control command S1 for shutdown to the motor driving device 10 . After receiving the motor control command S1, the motor driving device 10 does not immediately interrupt the power supply to the electric motor 20, but adopts a gradual slow shutdown to gradually reduce the operating voltage provided to the electric motor 20 to control the motor speed. The rpm gradually decreases, so the electric motor 20 will not stop momentarily, and the generation of a huge reverse electromotive force can be avoided.

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 controller 200 After the system is started up, when it is determined that the total hydraulic pressure P is less than a preset reference hydraulic pressure value of 200kg/ cm2 , a slow-start motor control command S1 is output to the motor drive device 10 to control the motor speed rpm to gradually increase and maintain operation at A basic speed of 400rpm.

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 controller 200 outputs a motor control command S1 corresponding to the hydraulic operation command to the motor driving device 10. The motor driving device 10 increases the pressure of the electric motor 20. Rotate to 800rpm. Between t1 and t2 is a delayed preset period T d . The controller 200 outputs the control valve command S2 to the relevant control valve 31 at time t2, thereby controlling the heavy-duty hydraulic cylinder 51 to start operating.

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 hydraulic cylinder 51, the controller 200 continues to monitor the total hydraulic pressure P and the hydraulic oil temperature T. When the total hydraulic pressure P is lower than a lower working pressure limit of 160kg/cm 2 (Fig. (not shown), the controller 200 will output the motor control command S1 to the motor driving device 10 to increase the operating speed of the electric motor 20 to 1600 rpm again, until the total hydraulic pressure P returns to the reference hydraulic pressure value of 200kg/cm 2 , then it will decrease. The speed of the electric motor 20 reaches a base speed of 400rpm.

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 controller 200 receives a shutdown signal input by the user, and the controller 200 outputs a motor control command S1 for shutting down the hydraulic system to the motor driving device 10. After receiving the motor control command S1, the motor driving device 10 gradually reduces the operating speed of the electric motor 20 until it completely stops.

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 hydraulic cylinder 51 and a light-load hydraulic cylinder 52 as an example. The actions from t0 to t3 are the same as those explained in FIG. 3 , so they will not be described again. The difference is that at time t4, after the controller 200 receives the user's input of a hydraulic cylinder operation command corresponding to the light-load hydraulic cylinder 52, the controller 200 outputs a motor control command S1 corresponding to the hydraulic operation command to the motor driving device 10 , the motor driving device 10 slightly reduces the working speed of the electric motor 20 to make it slightly lower than the motor speed under heavy load, and the corresponding total hydraulic pressure P will also be slightly lower than the pressure value under heavy load, but it can still Ensure that the light-load hydraulic cylinder 52 can operate normally. At time t5, the controller 200 receives a closing signal input by the user, and the controller 200 outputs a motor control command S1 for closing to the motor driving device 10. According to the motor control command S1, the motor driving device 10 gradually reduces the operating speed of the electric motor 20 until it completely stops.

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.

Claims (10)

一種液壓驅動裝置的控制方法，其中，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；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。 A control method for a hydraulic drive device, wherein the hydraulic drive device includes a motor drive device, an electric motor, a hydraulic pump and at least one hydraulic cylinder, and the hydraulic pump is connected to the hydraulic cylinder through a hydraulic pipeline; the control method It is executed by a controller and includes the following steps: when the hydraulic drive device is powered on, the controller receives a total hydraulic pressure detected from the hydraulic pipeline and determines that the total hydraulic pressure is less than a preset reference hydraulic pressure. When the value is reached, a slow-start motor control command is output to the motor driving device, so that the motor driving device controls the electric motor to maintain operation at a basic speed; when the controller determines that a hydraulic cylinder operation command is received, it outputs the corresponding hydraulic pressure A motor control command of the cylinder operation command is given to the motor drive device, so that the motor drive device controls the electric motor to increase to a corresponding operating speed; after the controller outputs the motor control command corresponding to the hydraulic cylinder operation command, it is delayed After a preset period of time, a control valve command is output to control the hydraulic cylinder to start operating; during the operation of the hydraulic cylinder, the controller immediately outputs a motor control command to increase or decrease the speed based on the current total hydraulic pressure. The motor driving device is used 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 instruction for shutdown to the motor driving device, so that the motor driving device gradually Reduce the operating voltage provided to the electric motor to slowly shut down the electric motor. 如請求項1所述液壓驅動裝置的控制方法，其中，在該控制器即時輸出用以提高或降低該馬達之工作轉速之馬達控制指令給該馬達驅動裝置之步驟中，該控制器係進一步：當判斷測得的液壓總壓低於或等於一工作壓力下限值，該控制器即時輸出升速用的馬達控制指令給該馬達驅動裝置，以提高電動馬達的工作轉速；且 當判斷測得的液壓總壓恢復至一目標壓力值時，該控制器即時輸出降速用的馬達控制指令給該馬達驅動裝置，其中，該目標壓力值係該液壓缸運作時所需之壓力，該目標壓力值大於該基礎壓力值。 The control method of a hydraulic drive device as described in claim 1, wherein in the step of the controller immediately outputting a motor control command to increase or decrease the operating speed of the motor to the motor drive device, the controller is further: When it is judged that the measured total hydraulic pressure is lower than or equal to a lower limit of working pressure, the controller immediately outputs a motor control command for speed increase to the motor driving device to increase the working speed of the electric motor; and When it is judged that the measured total hydraulic pressure has returned to a target pressure value, the controller immediately outputs a motor control command for speed reduction to the motor drive device, where the target pressure value is the pressure required for the operation of the hydraulic cylinder. , the target pressure value is greater than the base pressure value. 如請求項1所述液壓驅動裝置的控制方法，其中，在該控制器即時輸出用以提高或降低該馬達之工作轉速之馬達控制指令給該馬達驅動裝置之步驟中，該控制器係進一步：計算感測到的液壓總壓與一目標壓力值之間的一壓力差值，根據該壓力差值的大小決定該電動馬達之工作轉速的調整幅度，其中，該目標壓力值係該液壓缸運作時所需之壓力，該目標壓力值大於該基礎壓力值；當該壓力差值越大，控制電動馬達運作在較高的工作轉速；當該壓力差值越小，控制電動馬達運作在較低的工作轉速。 The control method of a hydraulic drive device as described in claim 1, wherein in the step of the controller immediately outputting a motor control command to increase or decrease the operating speed of the motor to the motor drive device, the controller is further: Calculate a pressure difference between the sensed total hydraulic pressure and a target pressure value, and determine the adjustment range of the operating speed of the electric motor according to the pressure difference, wherein the target pressure value is determined by the operation of the hydraulic cylinder The required pressure at the time, the target pressure value is greater than the basic pressure value; when the pressure difference is larger, the electric motor is controlled to operate at a higher operating speed; when the pressure difference is smaller, the electric motor is controlled to operate at a lower operating speed working speed. 如請求項1至3中任一項所述液壓驅動裝置的控制方法，其中，該控制器進一步接收從該液壓管路中偵測到之一液壓溫度，當判斷該液壓溫度高於一溫度上限值時，該控制器輸出一用於降速的馬達控制指令給馬達驅動裝置，以降低該電動馬達的轉速。 The control method of a hydraulic drive device according to any one of claims 1 to 3, wherein the controller further receives a hydraulic temperature detected from the hydraulic pipeline, and when it is determined that the hydraulic temperature is higher than a temperature above When the limit value is reached, the controller outputs a motor control command for speed reduction to the motor drive device to reduce the speed of the electric motor. 如請求項1至3中任一項所述液壓驅動裝置的控制方法，其中，當該控制器判斷該液壓總壓低於預設的一異常下限值時，該控制器輸出一用於降速的馬達控制指令給馬達驅動裝置，以降低電動馬達的轉速。 The control method of a hydraulic drive device as described in any one of claims 1 to 3, wherein when the controller determines that the total hydraulic pressure is lower than a preset abnormal lower limit value, the controller outputs a speed reduction signal. The motor control command is given to the motor drive device to reduce the speed of the electric motor. 如請求項1至3中任一項所述液壓驅動裝置的控制方法，其中，在該控制器輸出該馬達控制指令給該馬達驅動裝置之步驟中，該控制器係根據該液壓缸的負載狀態，輸出對應該負載狀態的馬達控制指令，使該電動馬達產生對應該負載狀態的工作轉速。 The control method of a hydraulic drive device as described in any one of claims 1 to 3, wherein in the step of the controller outputting the motor control command to the motor drive device, the controller is based on the load state of the hydraulic cylinder. , output the motor control command corresponding to the load state, so that the electric motor generates the operating speed corresponding to the load state. 如請求項1所述液壓驅動裝置的控制方法，其中，該液壓總壓是透過一設置於該液壓幫浦之出油口的一壓力感測器所測得。 The control method of a hydraulic drive device as claimed in claim 1, wherein the total hydraulic pressure is measured through a pressure sensor provided at the oil outlet of the hydraulic pump. 如請求項4所述液壓驅動裝置的控制方法，其中，該液壓溫度是透過一設置於該液壓管路上的一溫度感測器所測得。 As claimed in claim 4, the control method of a hydraulic drive device, wherein the hydraulic temperature is measured through a temperature sensor disposed on the hydraulic pipeline. 如請求項1所述液壓驅動裝置的控制方法，其中，該控制閥指令係用於控制設置在該液壓管路之複數個控制閥，藉由該控制閥的開啟或關閉而控制該液壓缸作動。 The control method of a hydraulic drive device as claimed in claim 1, wherein the control valve command is used to control a plurality of control valves provided in the hydraulic pipeline, and the hydraulic cylinder is controlled by opening or closing the control valves. . 一種液壓驅動裝置的控制系統，包含有：一液壓驅動裝置，包含：一馬達驅動裝置，電性連接一電動馬達，該馬達驅動裝置提供一工作電壓以控制該電動馬達的一馬達轉速；一液壓幫浦，係由該電動馬達所帶動運作，其中，該液壓幫浦透過液壓管路連接至少一液壓缸；以及一壓力感測器，用以偵測該液壓管路中之液壓油的液壓總壓；一控制器，電性連接該馬達驅動裝置、該壓力感測器，其中，該控制器係執行如請求項1至9項中任一項所述之液壓驅動裝置的控制方法。 A control system for a hydraulic drive device, including: a hydraulic drive device, including: a motor drive device, electrically connected to an electric motor, the motor drive device provides a working voltage to control a motor speed of the electric motor; a hydraulic The pump is driven by the electric motor, wherein the hydraulic pump is connected to at least one hydraulic cylinder through a hydraulic pipeline; and a pressure sensor is used to detect the hydraulic system of the hydraulic oil in the hydraulic pipeline. pressure; a controller electrically connected to the motor drive device and the pressure sensor, wherein the controller executes the control method of the hydraulic drive device as described in any one of claims 1 to 9.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201432288Y (en) * 2009-07-20 2010-03-31 宝元数控精密股份有限公司 Hydraulic energy-saving device of machine tool
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

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201432288Y (en) * 2009-07-20 2010-03-31 宝元数控精密股份有限公司 Hydraulic energy-saving device of machine tool
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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