WO2012057241A1 - Procédé de régulation d'un circuit de pression hydraulique - Google Patents

Procédé de régulation d'un circuit de pression hydraulique Download PDF

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Publication number
WO2012057241A1
WO2012057241A1 PCT/JP2011/074745 JP2011074745W WO2012057241A1 WO 2012057241 A1 WO2012057241 A1 WO 2012057241A1 JP 2011074745 W JP2011074745 W JP 2011074745W WO 2012057241 A1 WO2012057241 A1 WO 2012057241A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
variable displacement
pump
discharge pressure
discharge
Prior art date
Application number
PCT/JP2011/074745
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English (en)
Japanese (ja)
Inventor
憲平 山路
Original Assignee
ボッシュ・レックスロス株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ボッシュ・レックスロス株式会社 filed Critical ボッシュ・レックスロス株式会社
Publication of WO2012057241A1 publication Critical patent/WO2012057241A1/fr
Priority to US13/865,821 priority Critical patent/US9429152B2/en

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Classifications

    • 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
    • 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
    • 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
    • F15B21/087—Control strategy, e.g. with block diagram

Definitions

  • the present invention relates to a hydraulic circuit control method applied to a machine such as a construction machine that uses a bleed-off hydraulic system.
  • Patent Documents 1 and 2 disclose a method of controlling the variable displacement pump by electrical calculation so that the actuators are connected via the respective valves, and the closed center type directional control valve is replaced with a center bypass type directional control valve. Proposed in
  • An operation amount for operating the actuator is input to the controller including the calculation means.
  • the controller calculates the virtual pump discharge pressure command P idea by calculating the bleed-off characteristic of the closed center type directional control valve using the virtual pump discharge amount Q idea , the pump discharge amount estimated value and the operation amount as parameters, and the closed-loop pressure control
  • the pump discharge command Q pc is transmitted to the variable displacement pump by calculation.
  • the actual discharge amount Q real is calculated, and the difference between this discharge amount Q real and the actuator flow rate Q a is multiplied by the coefficient (1 / Cp) of the actual pump piping system and further integrated.
  • the actual pump discharge pressure P real is obtained.
  • the horsepower calculation in the controller is based on a characteristic curve that defines the relationship between the discharge pressure and the discharge flow rate of the virtual pump based on the actual pump discharge pressure P real when calculating the discharge amount Q idea of the virtual pump. Making a decision.
  • control is normally performed such that the discharge flow rate is constant up to a predetermined pressure P1, and the product of the pressure and the flow rate is constant when the pressure P1 is exceeded.
  • the characteristic calculation is divided into cases where the pressure P is less than P1 and exceeds P1. There is a need to do.
  • the present invention can determine the bleed-off characteristic of the directional control valve without affecting the bleed-off characteristic of each actuator without being affected by the calculation of the horsepower characteristic of the pump, and effectively uses the horsepower of the pump. It is an object of the present invention to provide a hydraulic circuit control method that can be used.
  • the hydraulic circuit control method according to the present invention includes a plurality of closed center type directional control valves in a variable displacement pump driven by an engine and having an adjustable pump discharge amount from the outside.
  • a hydraulic circuit control method for controlling the variable displacement pump so that the closed center type directional control valve is substituted for a center bypass type directional control valve in a hydraulic circuit having an actuator connected thereto The variable displacement pump detects the actual discharge amount, the actual discharge pressure, and the operation amount of each directional control valve, and based on the characteristic curve that defines the relationship between the discharge pressure and the discharge amount of the variable displacement pump, the variable The first virtual discharge pressure is determined from the actual discharge amount of the capacity pump, the actual pump discharge amount is set as an actuator flow rate required for the actuator, and the operation is performed.
  • the bleed-off area of the closed center type directional control valve is determined according to the bleed-off flow, and the bleed-off flow is determined based on the bleed-off area.
  • the second virtual discharge pressure of the variable displacement pump is determined on the basis of the value obtained by subtracting, and the smaller one of the first and second virtual discharge pressures is determined. Based on this, the variable displacement pump is controlled.
  • a plurality of the variable displacement pumps are connected to the engine, and a plurality of the variable displacement pumps are connected to the plurality of variable displacement pumps.
  • the actuator is connected via a closed center type directional control valve, a ratio of horsepower distributed to the variable displacement pumps of the engine is determined according to the operation amount of each actuator, and the distributed each The first virtual discharge pressure is determined from the horsepower and the actual discharge amount of the variable displacement pump.
  • the characteristic curve has a constant discharge amount up to a predetermined discharge pressure region, and a region exceeding the predetermined pressure. Is characterized in that the product of the discharge pressure and the discharge flow rate is constant.
  • the first virtual discharge pressure is a discharge pressure of the variable displacement pump required for each actuator.
  • the horsepower of the variable displacement pump that is calculated as a sum and distributed to the actuators is determined in advance, and for each of the actuators, the actual discharge amount from the distributed horsepower to the actuators, and the first or By subtracting the value obtained by integrating the smaller one of the second virtual discharge pressures, the surplus horsepower for each actuator is calculated, and the horsepower of one actuator is The sum of the surplus horsepower of the remaining actuators is added to the horsepower distributed to the actuators.
  • the first virtual discharge pressure is variable in accordance with an operation amount of each directional control valve. It is characterized by.
  • the virtual pump discharge amount is used when calculating the bleed-off flow rate, so that the control of the bleed-off flow rate is not affected by the actual horsepower calculation of the pump. Even in the horsepower calculation area, the pump horsepower can be effectively utilized even when the actual pump discharge amount is small and the actual load on the actuator is small.
  • FIG. 1 is a hydraulic circuit diagram for explaining a control method for a variable displacement pump according to an embodiment of the present invention.
  • Block diagram for explaining the control of FIG. Explanatory drawing of the part enclosed with the dotted line A of FIG.
  • Block diagram for explaining another embodiment of the present invention Block diagram for explaining another embodiment of the present invention
  • Block diagram for explaining conventional bleed-off characteristic calculation Block diagram for explaining conventional bleed-off characteristic calculation
  • FIG. 1 shows a hydraulic circuit applied to a hydraulic excavator or the like for controlling the operation of a plurality of hydraulic actuators 1, which are closed to a discharge circuit 3 of a variable displacement pump 2 driven by a drive motor PM. It is connected via the center closed center type directional control valves 4, 4.
  • the variable displacement pump 2 is a known one such as an axial piston pump having a pump displacement control mechanism such as a swash plate.
  • the term “closed center type directional control valve” refers to a valve configured not to bypass oil to the tank when the spool is in the neutral position. Refers to a valve configured to bypass the oil to the tank when the spool is in the neutral position.
  • the pump pressure control device 6 includes a control valve 6b and a negative electromagnetic proportional valve 6c.
  • the actual pump discharge pressure P real of the pump 2 and the elastic force of the spring 6d are negative at both ends of the spool of the control valve 6b.
  • type electromagnetic proportional valve 6c pressure signal P 'c is controlled such by, but on both ends of the spool are suitable Naru area difference is given, the control valve 6b is accordingly, they are controlled by their balance.
  • Negative solenoid proportional valve 6c the pressure signal P 'c, and the controller 12, the signal P' of the input side facing the spring and to the proportional solenoid 6a is that in proportion to the control current input based idea is variable Controlled by balance with generated force.
  • the virtual pump discharge pressure command P idea obtained from the bleed-off characteristic calculation is subtracted from the maximum discharge pressure of the pump in order to perform negative control.
  • the inverted signal P ′ idea is transmitted to the proportional solenoid 6c of the negative electromagnetic proportional valve.
  • the virtual pump discharge pressure command P idea is inverted to the negative type, and then the proportional solenoid 6a of the pump pressure control device 6 is excited through the solenoid drive amplifier 5, and the excitation is performed through the negative type electromagnetic proportional valve.
  • the control valve 6b is operated in inverse proportion to the size of the valve (and therefore in proportion to the virtual pump discharge pressure command P idea ).
  • the control piston 7 moves the pump displacement control mechanism, and the pump displacement, that is, the pump discharge. Control the amount large or small.
  • the “negative type” means that the output value gradually decreases with respect to the input value.
  • a proportional relief valve is used as the negative electromagnetic proportional valve 6c.
  • an electromagnetic proportional pressure reducing valve is used in the present invention.
  • the system means that the pump can be moved at a predetermined pressure or the like when a signal is not obtained, and the output value gradually decreases when a signal is input.
  • the closed center type directional control valve 4 includes a proportional solenoid 8 for moving the spool.
  • the solenoid drive amplifier 13 is operated by the electric joystick 9 via the controller 12, the closed directional control valve 4 is in accordance with the inclination angle of the electric joystick 9.
  • the proportional solenoid 8 is excited, the spool of the closed center type directional control valve 4 is moved to a desired position, and the actuator ports 10 and 10 are controlled to the opening areas Ac1 and Ac2 according to the moving distance.
  • a command amount such as an inclination angle of an operation lever for operating each closed center type directional control valve 4 or a movement amount of a spool of each closed center type directional control valve 4 is electrically detected by a sensor, and the command amount or movement is detected.
  • the operation amount signal S based on the operation amount of each closed center type directional control valve 4 is set as the operation amount, and in the example of FIG. 1, the command electric signal from the electric joystick 9 to the solenoid drive amplifier 13 via the controller 12 is the operation amount. Used as a signal.
  • the actuator flow rate Q a is closed because de center type directional control valve 4 is actually a Allport closed valve without bleed-off channel, ignoring the slight leakage of the circuit, the actual output of the pump 2
  • the quantity Q real can be substituted for the actuator flow rate Q a .
  • the actuator flow rate Q a is obtained by providing the variable displacement pump 2 with a discharge amount detection sensor 11 and multiplying the tilt amount detected by the discharge amount detection sensor 11 by the rotation speed of the pump 2. and to calculate the actuator flow rate Q a.
  • the discharge amount detection sensor for example, when the variable displacement pump 2 is a swash plate type variable displacement pump or a radial pump, a potentiometer or the like can be used.
  • a controller 12 including an A / D converter 12a, a calculator 12b, and a D / A converter 12c.
  • the calculator 12b automatically performs the calculation shown in the block diagram of FIG. Run in a controlled manner.
  • the variable displacement pump 2 is controlled based on the minimum value obtained by comparing either the discharge pressure or the second virtual discharge pressure obtained based on the operation amount.
  • the reason why the maximum discharge pressure of the variable displacement pump 2 is compared is to prevent a discharge pressure higher than the maximum discharge pressure of the variable displacement pump 2 from being indicated as the discharge pressure of the variable displacement pump 2.
  • the maximum discharge pressure is not always necessary as long as the present invention is implemented.
  • the actual discharge amount of the variable displacement pump 2 is converted into a first virtual discharge pressure by a characteristic curve as shown.
  • the characteristic curve is such that the discharge amount is constant with respect to the discharge pressure up to a predetermined pressure P1, and the product of the discharge pressure and the discharge amount is constant in a region exceeding P1. preferable.
  • the second virtual discharge pressure is obtained from the discharge amount of the variable displacement pump 2 by a process indicated by a dotted line A in FIG.
  • FIG. 3 receives an input of an operation amount S k of the plurality of closed center directional control valve 4, their sum S 1 + S 2 + ⁇ take S n, the operation amount of the total Let it be signal S. At this time, each input may be weighted or an appropriate calculation process may be performed.
  • the opening area Ab of the bleed-off flow path of the closed center type directional control valve corresponding to the planned bleed-off characteristic is obtained from the manipulated variable signal S, and the bleed-off characteristic value Xb is obtained by multiplying it by Kq (flow coefficient).
  • the actual closed center type directional control valve 4 is a closed center without a bleed-off flow path, and this opening area Ab is a value in calculation.
  • the bleed-off characteristic is determined by determining in advance the relationship between the opening area Ab and the operation amount S.
  • the virtual discharge amount Q idea of the variable displacement pump 2 is set to a predetermined value. At this time, since the maximum discharge amount of the variable displacement pump 2 is a known number, this value can also be used.
  • the actuator flow rate as described above, for example, from inputted as a flow rate signal from the actual pump discharge quantity Q real, flow rate value Xa calculated by subtracting the actual pump discharge quantity Q real virtual pump discharge quantity Q idea bleed Corresponds to off flow rate.
  • the virtual pump discharge pressure command P idea is calculated by dividing this Xa by Xb and calculating the value to the nth power (n is an integer of 3 or more). Then, based on the virtual pump discharge pressure command P idea , the discharge pressure is closed-loop controlled.
  • the solenoid drive amplifier 5 receives the control signal based on the virtual pump discharge pressure command P idea and increases or decreases the excitation of the electromagnetic proportional valve 6a, and subtracts the subtraction between the virtual pump discharge pressure P idea and the actual pump discharge pressure P real.
  • the control piston 7 controls the pump discharge amount in accordance with a command from the control valve 6b, using the negative electromagnetic proportional valve 6c and the control valve 6b.
  • the closed center type directional control valve 4 When the electric joystick 9 is not operated, the closed center type directional control valve 4 is in the neutral position, and zero is input to the controller 12 as the operation amount signal S. In this case, the opening area of the bleed-off passage which is calculated by the controller 12 because maximized, virtual pump discharge pressure P idea becomes a small value.
  • the opening area of the bleed-off flow path calculated by the controller 12 becomes small, and the virtual pump discharge pressure P idea is once
  • the total pump discharge amount is set to a value when returning from the narrowed bleed-off flow path to the tank with a small area. Since the pump discharge pressure is closed-loop controlled, the actual pump discharge pressure P real is substantially equal to the value of the virtual pump discharge pressure P idea . If the actual pump discharge pressure P real is higher than the load pressure, the actuator 1 is accelerated and the oil begins to flow. Therefore, the pump discharge amount is increased to keep the actual pump discharge pressure P real at the virtual pump discharge pressure P idea.
  • the bleed-off flow rate decreases, so the virtual pump discharge pressure P idea and consequently the actual pump discharge pressure P real decreases, the actuator acceleration decreases, and the actuator speed gradually matches the operating amount. It converges and balances the pump discharge amount and discharge pressure to be maintained.
  • the bleed-off operation is performed only by calculation within the controller, and the actual pump discharge amount Q real is limited to the amount supplied to the actuator 1 if the leakage on the circuit is ignored. Therefore, there is no waste of energy because the bleed-off flow rate does not flow, and since the bleed-off flow path is not required for the closed center type directional control valve, the configuration is simple and inexpensive, and the operability is improved.
  • FIG. 4 shows a modified example of the horsepower calculation in the block diagram of FIG.
  • the number of actuators 1 connected to the variable displacement pump 2 is two, and the horsepower of the variable displacement pump 2 is distributed to each actuator 1 at a ratio of 0.5 in advance.
  • the first virtual discharge pressure is calculated as the total discharge pressure of the variable displacement pump 2 required for each actuator 1.
  • Each actuator 1 is obtained by integrating the actual discharge amount to each actuator 1 and the smaller one of the first and second virtual discharge pressures from the distributed horsepower.
  • the surplus horsepower for each actuator 1 is calculated by subtracting the obtained value.
  • the horsepower of one actuator 1 is set to a value obtained by adding the total horsepower of the remaining actuators to the horsepower distributed to the actuator 1. According to this configuration, surplus horsepower distributed to each actuator can be effectively utilized.
  • the operation of the controller 12 is performed according to the block diagram shown in FIG. 5 with the same hydraulic circuit configuration as in FIG.
  • input of operation amounts S1, S2,..., Sk,..., Sn of the plurality of closed center type directional control valves 4 is received.
  • the opening area Ab of the bleed-off flow path of the closed center type directional control valve corresponding to the planned bleed-off characteristic is obtained by the following equation. In the formula, Abk corresponds to Sk.
  • variable displacement pump is controlled by the above configuration, operability in accordance with the required characteristics of each actuator can be obtained.
  • the first virtual discharge pressure is made variable according to the operation amount of each directional control valve (for example, the flow rate of the pump is increased in a quadratic function according to the operation amount)
  • Solving the single operation reduces the resistance at the meter-in throttle, avoids energy loss, enhances the shunt control effect at meter-in during combined operation, and allows combined operation of actuators with different loads.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Mechanical Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

L'invention concerne un procédé de régulation d'une pompe à cylindrée variable, qui rend possible une régulation en fonction d'une caractéristique de soutirage de chaque actionneur avec un degré de liberté élevé. A cet effet, un volume effectif de refoulement et une pression effective de refoulement d'une pompe à cylindrée variable, ainsi qu'un degré d'actionnement de chaque vanne de commande directionnelle, sont détectés. Une première pression virtuelle de refoulement est déterminée à partir du volume effectif de refoulement de la pompe à cylindrée variable en se basant sur une courbe caractéristique qui établit une relation entre la pression de refoulement et le volume de refoulement de la pompe à cylindrée variable. Le volume effectif de refoulement de la pompe est traité comme un débit d'actionneur qui est nécessaire à l'actionneur. Une zone de soutirage d'une vanne de commande directionnelle fermée au centre est déterminée en fonction du degré d'actionnement. Un débit de soutirage est déterminé en se basant sur la zone de soutirage. Une deuxième pression virtuelle de refoulement de la pompe à cylindrée variable est déterminée en se basant sur une valeur obtenue en soustrayant le débit d'actionneur et le débit de soutirage du volume effectif de refoulement de la pompe à cylindrée variable. La pompe à cylindrée variable est commandée en se basant sur la plus faible des première et deuxième pressions virtuelles de refoulement.
PCT/JP2011/074745 2010-10-28 2011-10-27 Procédé de régulation d'un circuit de pression hydraulique WO2012057241A1 (fr)

Priority Applications (1)

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US13/865,821 US9429152B2 (en) 2010-10-28 2013-04-18 Method for controlling variable displacement pump

Applications Claiming Priority (2)

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JP2010-241917 2010-10-28
JP2010241917A JP2014015945A (ja) 2010-10-28 2010-10-28 油圧回路の制御方法

Related Parent Applications (1)

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PCT/JP2012/055315 Continuation WO2013128622A1 (fr) 2010-10-28 2012-03-02 Procédé de commande de pompe à déplacement variable

Related Child Applications (1)

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US13/865,821 Continuation-In-Part US9429152B2 (en) 2010-10-28 2013-04-18 Method for controlling variable displacement pump

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014148808A1 (fr) * 2013-03-19 2014-09-25 두산인프라코어 주식회사 Système hydraulique d'équipement de construction et son procédé de commande
EP2759713A4 (fr) * 2011-09-21 2015-11-04 Sumitomo Heavy Industries Dispositif de réglage hydraulique et procédé de réglage hydraulique
US11913477B2 (en) 2021-10-29 2024-02-27 Danfoss Scotland Limited Controller and method for hydraulic apparatus

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JP2000145711A (ja) * 1998-11-10 2000-05-26 Uchida Hydraulics Co Ltd 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
JP2006052673A (ja) * 2004-08-11 2006-02-23 Komatsu Ltd 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
JP2011094687A (ja) * 2009-10-29 2011-05-12 Kobelco Contstruction Machinery Ltd 建設機械のポンプ制御装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000145711A (ja) * 1998-11-10 2000-05-26 Uchida Hydraulics Co Ltd 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
JP2006052673A (ja) * 2004-08-11 2006-02-23 Komatsu Ltd 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
JP2011094687A (ja) * 2009-10-29 2011-05-12 Kobelco Contstruction Machinery Ltd 建設機械のポンプ制御装置

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2759713A4 (fr) * 2011-09-21 2015-11-04 Sumitomo Heavy Industries Dispositif de réglage hydraulique et procédé de réglage hydraulique
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
WO2014148808A1 (fr) * 2013-03-19 2014-09-25 두산인프라코어 주식회사 Système hydraulique d'équipement de construction et son procédé de commande
KR20140116003A (ko) * 2013-03-19 2014-10-01 두산인프라코어 주식회사 건설기계 유압시스템 및 이의 제어방법
CN105143686A (zh) * 2013-03-19 2015-12-09 斗山英维高株式会社 建筑机械油压***及其控制方法
EP2977621A1 (fr) * 2013-03-19 2016-01-27 Doosan Infracore Co., Ltd. Système hydraulique d'équipement de construction et son procédé de commande
EP2977621A4 (fr) * 2013-03-19 2017-03-29 Doosan Infracore Co., Ltd. Système hydraulique d'équipement de construction et son procédé de commande
CN105143686B (zh) * 2013-03-19 2017-06-06 斗山英维高株式会社 建筑机械油压***及其控制方法
US9841037B2 (en) 2013-03-19 2017-12-12 Doosan Infracore Co., Ltd. Construction equipment hydraulic system and control method therefor
KR102171981B1 (ko) * 2013-03-19 2020-10-30 두산인프라코어 주식회사 건설기계 유압시스템 및 이의 제어방법
US11913477B2 (en) 2021-10-29 2024-02-27 Danfoss Scotland Limited Controller and method for hydraulic apparatus

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