WO2020104090A1 - Drive system - Google Patents

Drive system

Info

Publication number
WO2020104090A1
WO2020104090A1 PCT/EP2019/076524 EP2019076524W WO2020104090A1 WO 2020104090 A1 WO2020104090 A1 WO 2020104090A1 EP 2019076524 W EP2019076524 W EP 2019076524W WO 2020104090 A1 WO2020104090 A1 WO 2020104090A1
Authority
WO
WIPO (PCT)
Prior art keywords
hydraulic
drive system
converter
electric motor
actuator
Prior art date
Application number
PCT/EP2019/076524
Other languages
German (de)
French (fr)
Inventor
Thomas Vetter
Original Assignee
Aradex Ag
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 Aradex Ag filed Critical Aradex Ag
Priority to EP19782975.7A priority Critical patent/EP3707391B1/en
Publication of WO2020104090A1 publication Critical patent/WO2020104090A1/en

Links

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
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • 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
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/005—Fault detection or monitoring
    • 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
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/007—Simulation or modelling
    • 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
    • F15B21/082—Servomotor systems incorporating electrically operated control means with different modes
    • 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
    • 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
    • F15B21/12—Fluid oscillators or pulse generators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/046—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member
    • F15B11/048—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member with deceleration control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
    • F15B20/005—Leakage; Spillage; Hose burst
    • 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
    • F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
    • F15B20/007—Overload
    • 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
    • F15B21/008—Reduction of noise or vibration
    • 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
    • F15B21/04—Special measures taken in connection with the properties of the fluid
    • F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
    • 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
    • F15B21/04—Special measures taken in connection with the properties of the fluid
    • F15B21/044—Removal or measurement of undissolved gas, e.g. de-aeration, venting or bleeding
    • 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
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • 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
    • F15B2211/2053—Type of pump
    • F15B2211/20561—Type of pump reversible
    • 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
    • F15B2211/2053—Type of pump
    • F15B2211/20569—Type of pump capable of working as pump and motor
    • 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
    • F15B2211/27—Directional control by means of the pressure source
    • 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
    • F15B2211/625—Accumulators
    • 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
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6658—Control using different modes, e.g. four-quadrant-operation, working mode and transportation mode
    • 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
    • F15B2211/755—Control of acceleration or deceleration of the output member
    • 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
    • F15B2211/76—Control of force or torque of the output member
    • 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
    • F15B2211/77—Control of direction of movement of the output member
    • F15B2211/7733—Control of direction of movement of the output member providing vibrating movement, e.g. dither control for emptying a bucket
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/85—Control during special operating conditions
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/857—Monitoring of fluid pressure systems
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8613—Control during or prevention of abnormal conditions the abnormal condition being oscillations
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8616—Control during or prevention of abnormal conditions the abnormal condition being noise or vibration
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • F15B2211/8636—Circuit failure, e.g. valve or hose failure
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • F15B2211/864—Failure of an output member, e.g. actuator or motor failure
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/87—Detection of failures
    • 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
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/005—With rotary or crank input
    • F15B7/006—Rotary pump input

Definitions

  • the invention relates to a drive system according to the preamble of claim 1.
  • Such drive systems are generally used to actuate a hydraulic actuator so that it can perform defined work processes.
  • the drive system generally includes an electric motor and a converter as electrical components.
  • a hydraulic pump, a hydraulic fluid guided in hydraulic lines and the hydraulic actuator are provided as hydraulic components.
  • the function of the drive system is generally such that the electric motor drives the hydraulic pump so that the pump transports hydraulic fluid in the hydraulic lines.
  • the hydraulic fluid can be guided directly by the hydraulic actuator, which can be formed as a working cylinder or hydraulic engine.
  • the hydraulic fluid can be distributed by means of switching valves. The valves can also be used to regulate the flow of the hydraulic fluid before it is fed to the hydraulic actuator.
  • the invention has for its object to provide a drive system of the type mentioned ge, which has a high functionality with little design effort.
  • the invention relates to a drive system with an electric motor, one of the associated converters and a hydraulic actuator which can be actuated via a hydraulic pump controlled by the electric motor and a hydraulic fluid guided in a hydraulic line.
  • the converter forms a monitoring unit by means of which status monitoring of components of the drive system can be carried out.
  • the converter forms a modulation unit, by means of which working processes of the hydraulic actuator can be influenced.
  • the electric motor with the converter is assigned exactly one hydraulic actuator. This clear assignment allows, in particular, a model of the drive system to be determined mathematically, this advantageously being stored in the converter.
  • Another essential feature is the design of the hydraulic pump as a positive displacement pump, so that a hydrostatic system is formed with the hydraulic pump.
  • the basic idea of the invention is to use the functionality of the converter to form a monitoring unit with it, by means of which a condition monitoring of components of the drive system is carried out. This significantly increases the functional reliability of the drive system.
  • the functionality of the converter can be used to form a modulation unit by means of which aims to influence work processes.
  • dynamic work processes of the hydraulic actuator can be predetermined automatically via the converter. These work processes can be specified depending on the current boundary conditions and without user input, which results in a particularly high functionality and flexibility of the drive system.
  • a control unit is particularly advantageously integrated in the converter, by means of which the functions of the monitoring unit and the modulation unit can be implemented.
  • monitoring can be carried out in real time by means of the converter as a monitoring unit.
  • the monitoring unit thus formed thus forms a real-time system corresponding to the real-time term defined in the DIN 44300 standard. Accordingly, real-time is to be understood as the area of a computing system in which programs for processing data are always ready for operation, in such a way that the processing results are available within a predetermined period of time.
  • a first monitoring function of the monitoring unit is realized in that the torque of the electric motor can be detected by means of the converter, and that the hydraulic pressure of the hydraulic fluid in the hydraulic line can be determined from this and a model of the drive system stored in the converter. Due to the model of the entire drive system stored in the converter, the hydraulic pressure can be calculated from the measured torque of the electric motor.
  • the hydraulic pressure is an essential parameter for the description of the state of the drive system.
  • the hydraulic pressure determined in the converter is a parameter for monitoring the work process.
  • the determined hydraulic pressure is a pure monitoring variable for checking the work process carried out with the hydraulic actuator.
  • the electric motor can be braked quickly to avoid overload situations.
  • vibration damping of components of the drive system can be carried out depending on the hydraulic pressure realized in the converter.
  • the hydraulic components of the drive system in particular the hydraulic fluid carried in the hydraulic lines, form an oscillatory structure.
  • Such an oscillatory structure can also arise through the coupling of the hydraulic actuators to the mechanically implemented function with its mechanical elasticities and mechanical inertia.
  • Such vibrations affect the stability and also the functionality of the drive system.
  • Such vibrations can be detected by a time-resolved detection of the hydraulic pressure.
  • the operating parameters of the electric motor can be changed in a suitable manner.
  • the torque of the electric motor can be detected by means of the converter and from this and a model of the drive system stored in the converter, a torque or a force of the actuator can be determined.
  • a further analysis possibility is that the converter can be used to determine leakage or backflow losses in the hydraulic lines by detecting the speed of the electric motor when the hydraulic actuator is at a stop.
  • suitable countermeasures can be initiated by varying the operating parameters of the electric motor.
  • the speed of the electric motor is modulated by means of the converter and by detecting the Influence of the speed modulation on the torque of the electric motor can be used to record state variables of hydraulic components of the drive system.
  • the speed is micromodulated so low that the working process carried out with the hydraulic actuator is not influenced thereby.
  • determining the viscosity of the hydraulic fluid in particular in combination with a temperature measurement of the hydraulic fluid, it can be determined which hydraulic fluid is used. This can be used to check whether the correct hydraulic fluid is in use.
  • a modulated force of the hydraulic actuator is generated with the converter as a modulation unit.
  • the hydraulic pump is operated by the converter via the electric motor, in particular by modulating the speed of the electric motor in such a way that the hydraulic pressure is modulated, which also modulates the force or torque generated in the hydraulic actuator.
  • the operating mode of the drive system is thus changed, preferably without any user input and preferably depending on application-specific boundary conditions, in such a way that the hydraulic actuator carries out defined, highly dynamic work processes.
  • An example of this is a drive system in which the hydraulic actuator is used to move the bucket of an excavator. If the force of the bucket is not sufficient to penetrate the medium during a continuous working movement in the case of a very solid medium to be removed, this is determined in the converter by the fact that a high torque of the electric motor is generated when the hydraulic actuator is not or only slightly moving . In this case, the converter automatically switches to modulation mode so that the hydraulic actuator and thus the blade perform pulsating movements, which considerably facilitates the penetration of the blade into the medium.
  • the hydraulic pump is lubricated with the converter as a modulation unit by modulating the movement of the electric motor.
  • the invention is based on the finding that in hydraulic pumps, in particular positive displacement pumps, there must always be a minimum speed of the electric motor which acts on the hydraulic pump, that sufficient hydraulic fluid is in circulation and prevents components of the hydraulic pump from running dry. By modulating the speed of the electric motor according to the invention, this requirement can be met in a simple manner.
  • Figure 1 Schematic representation of an embodiment of the inventive drive system.
  • FIG. 1 shows a schematic illustration of an exemplary embodiment of the drive system 1 according to the invention.
  • the drive system 1 comprises, as electrical components, an electric motor 2 and a converter 3.
  • a hydraulic system is operated and controlled with these electrical components.
  • the hydraulic system comprises a hydraulic pump 4, which is designed in the form of a displacement pump. From the hydraulic pump 4, two hydraulic lines 5a, 5b lead to a hydraulic actuator 6, which is designed in the form of a hydraulic cylinder which has a plunger 6b guided in a housing 6a.
  • ge hydraulic fluid is conveyed or transported in the hydraulic lines 5 a, 5 b, it being possible to actuate the hydraulic actuator 6 by building up a specific pressure of the hydraulic fluid in one of the hydraulic lines 5 a, 5 b.
  • a memory 7 which can hold hydraulic fluid.
  • the memory 7 serves to compensate for volume fluctuations in the hydraulic fluid, which may be caused, for example, by temperature fluctuations.
  • a bidirectionally operable hydraulic pump is shown as an example in FIG. But this is only one embodiment. Another possibility is the use of unidirectional pumps which are widely used. In this case, the direction change takes place via changeover valves. This can then also be implemented in the form of an open system in which the hydraulic return can be depressurized.
  • the converter 3 comprises a computer unit with a control unit integrated therein.
  • the currents of the electric motor 2 in all phases, the voltage of the electric motor 2 and the are in the converter 3 as measured variables Rotor position of the rotor of the electric motor 2 before. From these measured variables, the speed, the torque and the power can be derived in the control unit of the converter 3 as output parameters of the electric motor 2.
  • the functioning of the drive system 1 is such that the control unit regulates the electric motor 2 in four quadrants.
  • the electric motor 2 acts in four quadrants on the hydraulic pump 4.
  • the hydraulic pump 4 is thus actuated so that an increased pressure is optionally generated in the first hydraulic line 5a or in the second hydraulic line 5b , whereby the plunger 6b of the hydraulic cylinder is moved downwards or upwards.
  • Working processes are carried out by the hydraulic cylinder actuated in this way, for which purpose the hydraulic cylinder is connected to a corresponding working device, for example to the bucket of an excavator.
  • the electric motor is only operated in 2 quadrants, which is a functional subset.
  • the bucket performs a unidirectional working movement.
  • the control unit can operate automatically in a dynamic working mode, in particular when the bucket of an excavator is stuck in a solid base.
  • the converter 3 with the control unit then forms a modulation unit such that the rotational speed of the electric motor 2 is modulated, so that a modulated force of the hydraulic actuator 6 is generated by means of the hydraulic pump 4.
  • This generates a pulsed, modulated movement of the blade, which facilitates penetration of the blade into the solid surface.
  • the modulation of the speed of the electric motor 2 can also be used to lubricate the hydraulic pump 4, since the modulation ensures that the hydraulic fluid reaches and lubricates all parts of the hydraulic pump 4.
  • a model of the entire drive system 1 is stored in the control unit of the converter 3.
  • the determination and monitoring of parameters of the hydraulic system can be carried out in the converter 3 by detecting output variables of the electric motor 2, such as speed or torque.
  • output variables of the electric motor 2 such as speed or torque.
  • the hydraulic pressure of the hydraulic fluid in the hydraulic lines 5 a, 5 b can be determined and monitored.
  • the force of the hydraulic actuator 6 can also be determined and monitored in this way. Frictional forces or leakage or backflow losses in the hydraulic system can also be determined.
  • An expanded monitoring option results from a micromodulation of the rotational speed of the electric motor 2, which leaves the working process of the electric motor 2 unchanged. This micromodulation enables state variables of the hydraulic system to be determined, in particular the viscosity, compressibility or friction of the hydraulic fluid in the hydraulic lines 5a, 5b.

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Abstract

The invention relates to a drive system (1) having an electric motor (2), having an inverter (3) assigned to said electric motor, and having a hydraulic actuator (6) which is actuatable by means of a hydraulic pump (4) controlled by the electric motor (2) and by means of a hydraulic fluid conducted in a hydraulic line (5a, 5b). The inverter (3) forms a monitoring unit by means of which state monitoring of components of the drive system (1) can be performed. Alternatively or in addition, the inverter (3) forms a modulation unit by means of which working processes of the hydraulic actuator (6) can be influenced.

Description

Antriebssystem Die Erfindung betrifft ein Antriebssystem gemäß dem Oberbegriff des An spruchs 1.  Drive system The invention relates to a drive system according to the preamble of claim 1.
Derartige Antriebssysteme dienen generell zur Betätigung eines Hydraulik- Ak tors, damit dieser definierte Arbeitsprozesse durchführen kann. Das Antriebs system umfasst generell als elektrische Komponenten einen Elektromotor und einen Umrichter. Als Hydraulikkomponenten sind eine Hydraulikpumpe, eine in Hydraulikleitungen geführte Hydraulikflüssigkeit sowie der Hydraulik-Aktor vorgesehen. Such drive systems are generally used to actuate a hydraulic actuator so that it can perform defined work processes. The drive system generally includes an electric motor and a converter as electrical components. A hydraulic pump, a hydraulic fluid guided in hydraulic lines and the hydraulic actuator are provided as hydraulic components.
Die Funktion des Antriebssystems ist generell derart, dass der Elektromotor die Hydraulikpumpe antreibt, damit die Pumpe Hydraulikflüssigkeit in den Hydrau- likleitungen transportiert. Zur Betätigung des Hydraulik- Aktors kann die Hyd raulikflüssigkeit direkt vom Hydraulik- Aktor, der als Arbeitszylinder oder Hyd raulikmotor aus gebildet sein kann, geführt werden. Alternativ kann eine Vertei lung der Hydraulikflüssigkeit mittels Schaltventilen erfolgen. Weiterhin kann mit den Ventilen der Durchfluss der Hydraulikflüssigkeit geregelt werden, bevor diese dem Hydraulik- Aktor zugeführt wird. The function of the drive system is generally such that the electric motor drives the hydraulic pump so that the pump transports hydraulic fluid in the hydraulic lines. To actuate the hydraulic actuator, the hydraulic fluid can be guided directly by the hydraulic actuator, which can be formed as a working cylinder or hydraulic engine. Alternatively, the hydraulic fluid can be distributed by means of switching valves. The valves can also be used to regulate the flow of the hydraulic fluid before it is fed to the hydraulic actuator.
Im Umrichter befindet sich generell eine Regeleinheit, mittels derer der Betrieb des Elektromotors geregelt wird. In der Regeleinheit liegen als Messgrößen des Elektromotors dessen Ströme, Spannung und Rotorposition des Rotors vor. Ab hängig von diesen Messgrößen können Abgabekenngrößen des Elektromotors wie Drehmoment, Drehzahl und Leistung vorgegeben werden. Der Erfindung liegt die Aufgabe zugrunde, ein Antriebssystem der eingangs ge nannten Art bereitzustellen, welches bei geringem konstruktivem Aufwand eine hohe Funktionalität aufweist. There is generally a control unit in the converter which controls the operation of the electric motor. The measured values of the electric motor in the control unit include its currents, voltage and rotor position of the rotor. Depending on these measured variables, output parameters of the electric motor such as torque, speed and power can be specified. The invention has for its object to provide a drive system of the type mentioned ge, which has a high functionality with little design effort.
Zur Lösung dieser Aufgabe sind die Merkmale des Anspruchs 1 vorgesehen. Vorteilhafte Ausführungsformen und zweckmäßige Weiterbildungen der Erfin dung sind in den abhängigen Ansprüchen beschrieben. The features of claim 1 are provided to achieve this object. Advantageous embodiments and expedient developments of the inven tion are described in the dependent claims.
Die Erfindung betrifft ein Antriebssystem mit einem Elektromotor, einem die sem zugeordneten Umrichter und einem Hydraulik-Aktor, welcher über eine vom Elektromotor gesteuerte Hydraulikpumpe und eine in einer Hydrauliklei tung geführte Hydraulikflüssigkeit betätigbar ist. Der Umrichter bildet eine Überwachungseinheit, mittels derer eine Zustandsüberwachung von Komponen ten des Antriebssystems durchführbar ist. Alternativ oder zusätzlich bildet der Umrichter eine Modulationseinheit, mittels derer Arbeitsprozesse des Hydrau lik-Aktors beeinflussbar sind. The invention relates to a drive system with an electric motor, one of the associated converters and a hydraulic actuator which can be actuated via a hydraulic pump controlled by the electric motor and a hydraulic fluid guided in a hydraulic line. The converter forms a monitoring unit by means of which status monitoring of components of the drive system can be carried out. Alternatively or additionally, the converter forms a modulation unit, by means of which working processes of the hydraulic actuator can be influenced.
Wesentlich bei dem erfindungsgemäßen Antriebssystem ist, dass dem Elektro motor mit dem Umrichter genau ein Hydraulik- Aktor zugeordnet ist. Diese ein deutige Zuordnung erlaubt es insbesondere ein Modell des Antriebssystems rechnerisch zu bestimmen, wobei dieses vorteilhaft im Umrichter hinterlegt ist. Ein weiteres wesentliches Merkmal ist die Ausbildung der Hydraulikpumpe als Verdrängerpumpe, so dass mit der Hydraulikpumpe ein hydrostatisches System gebildet wird. It is essential in the drive system according to the invention that the electric motor with the converter is assigned exactly one hydraulic actuator. This clear assignment allows, in particular, a model of the drive system to be determined mathematically, this advantageously being stored in the converter. Another essential feature is the design of the hydraulic pump as a positive displacement pump, so that a hydrostatic system is formed with the hydraulic pump.
Der Grundgedanke der Erfindung besteht darin, die Funktionalität des Umrich ters dazu zu nutzen, dass mit diesem eine Überwachungseinheit gebildet wird, mittels derer eine Zustandsüberwachung von Komponenten des Antriebssystems durchgeführt wird. Dadurch wird die Funktionssicherheit des Antriebssystems erheblich erhöht. Alternativ oder zusätzlich kann die Funktionalität des Umrich ters dazu genutzt werden, eine Modulationseinheit auszubilden, mittels derer ge- zielt Arbeitsprozesse beeinflussbar sind. Insbesondere können über den Umrich ter selbsttätig dynamische Arbeitsprozesse des Hydraulik-Aktors vorgegeben werden. Die Vorgabe dieser Arbeitsprozesse kann abhängig von aktuellen Rand bedingungen und ohne Benutzereingaben erfolgen, wodurch eine besonders hohe Funktionalität und Flexibilität des Antriebssystems erzielt wird. The basic idea of the invention is to use the functionality of the converter to form a monitoring unit with it, by means of which a condition monitoring of components of the drive system is carried out. This significantly increases the functional reliability of the drive system. Alternatively or additionally, the functionality of the converter can be used to form a modulation unit by means of which aims to influence work processes. In particular, dynamic work processes of the hydraulic actuator can be predetermined automatically via the converter. These work processes can be specified depending on the current boundary conditions and without user input, which results in a particularly high functionality and flexibility of the drive system.
Besonders vorteilhaft ist in dem Umrichter eine Regeleinheit integriert, mittels der die Funktionen der Überwachungseinheit und der Modulationseinheit reali sierbar sind. A control unit is particularly advantageously integrated in the converter, by means of which the functions of the monitoring unit and the modulation unit can be implemented.
Da somit allein mit der bereits im Umrichter vorhandenen Regeleinheit die Funktionalitäten einer Überwachungseinheit und einer Modulationseinheit rea lisiert werden können, ist hierfür kein zusätzlicher konstruktiver Aufwand erfor derlich. Since the functionalities of a monitoring unit and a modulation unit can thus be implemented solely with the control unit already present in the converter, no additional design effort is required for this.
Ein wesentlicher Aspekt der Erfindung besteht darin, dass mittels des Umrich ters als Überwachungseinheit Überwachungen in Echtzeit durchführbar sind. Die so gebildete Überwachungseinheit bildet somit ein Echtzeitsystem entspre chend dem in der Norm DIN 44300 definierten Echtzeitbegriff. Demzufolge ist unter Echtzeit der Bereich eines Rechensystems zu verstehen, bei dem Pro gramme zur Verarbeitung anfallender Daten ständig betriebsbereit sind, derart, dass die Verarbeitungsergebnisse innerhalb einer vorgegebenen Zeitspanne ver- fügbar sind. An essential aspect of the invention is that monitoring can be carried out in real time by means of the converter as a monitoring unit. The monitoring unit thus formed thus forms a real-time system corresponding to the real-time term defined in the DIN 44300 standard. Accordingly, real-time is to be understood as the area of a computing system in which programs for processing data are always ready for operation, in such a way that the processing results are available within a predetermined period of time.
Eine erste Überwachungsfünktion der Überwachungseinheit wird dadurch reali siert, dass mittels des Umrichters das Drehmoment des Elektromotors erfassbar ist, und dass aus diesem und einem im Umrichter hinterlegten Modell des An triebssystems der Hydraulikdruck der Hydraulikflüssigkeit in der Hydrauliklei tung bestimmbar ist. Durch das im Umrichter hinterlegte Modell des gesamten Antriebssystems kann aus dem gemessenen Drehmoment des Elektromotors rechnerisch der Hydrau likdruck bestimmt werden. Der Hydraulikdruck bildet eine wesentliche Kenn größe für die Beschreibung des Zustandes des Antriebssystems. A first monitoring function of the monitoring unit is realized in that the torque of the electric motor can be detected by means of the converter, and that the hydraulic pressure of the hydraulic fluid in the hydraulic line can be determined from this and a model of the drive system stored in the converter. Due to the model of the entire drive system stored in the converter, the hydraulic pressure can be calculated from the measured torque of the electric motor. The hydraulic pressure is an essential parameter for the description of the state of the drive system.
Gemäß einer ersten Variante bildet der im Umrichter bestimmte Hydraulikdruck eine Kenngröße für die Überwachung des Arbeitsprozesses. According to a first variant, the hydraulic pressure determined in the converter is a parameter for monitoring the work process.
In diesem Fall bildet der ermittelte Hydraulikdruck eine reine Überwachungs größe zur Kontrolle des mit dem Hydraulik-Aktor durchgeführten Arbeitspro zesses. In this case, the determined hydraulic pressure is a pure monitoring variable for checking the work process carried out with the hydraulic actuator.
Gemäß einer zweiten Variante ist abhängig von dem im Umrichter bestimmten Hydraulikdruck eine Schnellbremsung des Elektromotors zur Vermeidung von Überlastsituationen durchführbar. According to a second variant, depending on the hydraulic pressure determined in the converter, the electric motor can be braked quickly to avoid overload situations.
Anhand des in Echtzeit zeitaufgelöst ermittelten Hydraulikdrucks kann erfasst werden, ob mit dem Hydraulik-Aktor durchgeführte Arbeitsprozesse zu einer Überlastsituation führen. Wird beispielsweise mit dem Hydraulik-Aktor eine Schaufel eines Baggers oder dergleichen betätigt und die Schaufel hat sich an einem Hindernis festgefahren, besteht bei weiter ungebremsten Betrieb des Elektromotors eine Gefahr einer Beschädigung der Schaufel oder Komponenten des Antriebssystems. Eine solche auftretende Überlastsituation kann durch eine Änderung des Hydraulikdrucks erfasst werden, so dass dann durch eine Schnell bremsung des Elektromotors mögliche Gefahrenzustände sicher vermieden wer den. On the basis of the hydraulic pressure determined in real time, it can be determined whether work processes carried out with the hydraulic actuator lead to an overload situation. If, for example, a bucket of an excavator or the like is actuated with the hydraulic actuator and the bucket has got stuck on an obstacle, there is a risk of damage to the bucket or components of the drive system if the electric motor continues to operate without brakes. Such an overload situation can be detected by changing the hydraulic pressure, so that possible emergency conditions can then be reliably avoided by rapid braking of the electric motor.
Gemäß einer weiteren Variante ist abhängig von dem im Umrichter realisierten Hydraulikdruck eine Schwingungsdämpfüng von Komponenten des Antriebs systems durchführbar. Die Hydraulikkomponenten des Antriebssystems, insbesondere die in den Hyd- raulikleitungen geführte Hydraulikflüssigkeit, bilden ein schwingungsfähiges Gebilde. Ein solches schwingungsfähiges Gebilde kann auch durch die Kopp lung der Hydraulik- Aktoren an die mechanisch umgesetzte Funktion mit deren mechanischen Elastizitäten und mechanischer Trägheit entstehen. Derartige Schwingungen beeinträchtigen die Stabilität und auch die Funktionsfähigkeit des Antriebssystems. Durch eine zeitaufgelöste Erfassung des Hydraulikdrucks können derartige Schwingungen erfasst werden. Um derartige Schwingungen zu dämpfen, können die Betriebsparameter des Elektromotors in geeigneter Weise geändert werden. According to a further variant, vibration damping of components of the drive system can be carried out depending on the hydraulic pressure realized in the converter. The hydraulic components of the drive system, in particular the hydraulic fluid carried in the hydraulic lines, form an oscillatory structure. Such an oscillatory structure can also arise through the coupling of the hydraulic actuators to the mechanically implemented function with its mechanical elasticities and mechanical inertia. Such vibrations affect the stability and also the functionality of the drive system. Such vibrations can be detected by a time-resolved detection of the hydraulic pressure. In order to dampen such vibrations, the operating parameters of the electric motor can be changed in a suitable manner.
Gemäß einer weiteren vorteilhaften Ausführungsform der Erfindung ist mittels des Umrichters das Drehmoment des Elektromotors erfassbar und aus diesem und einem im Umrichter hinterlegten Modell des Antriebssystems ist ein Dreh moment oder eine Kraft des Aktors bestimmbar. According to a further advantageous embodiment of the invention, the torque of the electric motor can be detected by means of the converter and from this and a model of the drive system stored in the converter, a torque or a force of the actuator can be determined.
Auch in diesem Fall kann unter Ausnutzung des im Umrichter hinterlegten Mo dells des gesamten Antriebssystems aus dem messtechnisch ermittelten Dreh moment des Elektromotors als Kenngröße des Hydraulik- Aktors je nach dessen Ausbildung das in diesem erzeugte Drehmoment oder die in diesem erzeugte Kraft bestimmt und zur Kontrolle der Aktorfünktion überwacht werden. In this case, too, using the model stored in the converter of the entire drive system from the torque of the electric motor determined by measurement technology as a parameter of the hydraulic actuator, depending on its design, determines the torque generated in this or the force generated in it and for checking the Actuator function are monitored.
Gemäß einer weiteren Ausgestaltung sind mittels dem Umrichter bei Leerlauf des Elektromotors und Arbeitsprozesse ausführendem Hydraulik-Aktor Rei bungskräfte erfassbar. According to a further embodiment, by means of the converter, when the electric motor is idling and hydraulic processes executing work processes, frictional forces can be detected.
Dabei treten im gesamten Antriebssystem unterschiedliche Reibungseffekte auf, beispielsweise Bewegungsreibungen von beweglichen Komponenten, die zum Beispiel in der Hydraulikpumpe vorgesehen sind. Auch hydraulische Wider stände, insbesondere der über die Pumpe in Bewegung versetzten Hydraulikflüs sigkeit, führen zu Reibungsverlusten. Auch Festkörperreibungen zwischen Fest körperelementen bewirken Reibungskräfte. Wird im Leerlauf des Elektromotors, jedoch bei in vorzugsweise beiden Bewe gungsrichtungen arbeitendem Hydraulik- Aktor eine geeignete Kenngröße des Elektromotors, wie zum Beispiel dessen Strom oder Drehmoment gemessen, gibt dies Aufschluss über im Gesamtsystem vorhandene Reibungskräfte. Unter Berücksichtigung des im Umrichter hinterlegten Modells des Antriebssystems können dabei sogar einzelne Reibungskräfte separat analysiert werden. Different friction effects occur in the entire drive system, for example movement friction of moving components, which are provided, for example, in the hydraulic pump. Hydraulic resistances, in particular the hydraulic fluid set in motion by the pump, also lead to friction losses. Solid friction between solid elements also cause frictional forces. If a suitable parameter of the electric motor, such as, for example, its current or torque, is measured when the electric motor is idling, but with the hydraulic actuator operating in preferably two directions of movement, this provides information about the frictional forces present in the overall system. Taking into account the model of the drive system stored in the converter, even individual frictional forces can be analyzed separately.
Eine weitere Analysemöglichkeit besteht darin, dass mittels des Umrichters bei einem Anschlag stillstehendem Hydraulik- Aktor durch Erfassung der Drehzahl des Elektromotors Leckage- oder Rückströmverluste in den Hydraulikleitungen ermittelbar sind. A further analysis possibility is that the converter can be used to determine leakage or backflow losses in the hydraulic lines by detecting the speed of the electric motor when the hydraulic actuator is at a stop.
Hierbei liegt die Überlegung zugrunde, dass der Hydraulik- Aktor bei Einfahren gegen einen Anschlag stillsteht, das heißt sich trotz anstehendem Drehmoment des Elektromotors nicht mehr weiterbewegen kann. Über das Drehmoment des Elektromotors wird die Pumpe betätigt und somit ein Druck der Hydraulikflüs sigkeit in den Hydraulikleitungen aufgebaut. Bei Vorhandensein von Leckagen oder Rückströmverlusten liegt der aufgelaufene Druck unterhalb eines Sollwer tes, was im Umrichter als Diagnosegröße festgestellt werden kann. This is based on the consideration that the hydraulic actuator comes to a standstill when moving in against a stop, that is to say that it can no longer move despite the torque of the electric motor. The pump is actuated via the torque of the electric motor, thus building up a pressure of the hydraulic fluid in the hydraulic lines. If there are leaks or backflow losses, the pressure accumulated is below a setpoint, which can be determined as a diagnostic parameter in the converter.
Auch wenn der Hydraulik- Aktor nicht an einen Endschlag gefahren ist, kann mittels des Umrichters die Förderung der Hydraulikflüssigkeit in den Hydrau likleitungen überwacht werden. Even if the hydraulic actuator has not reached an end stop, the delivery of the hydraulic fluid in the hydraulic lines can be monitored by means of the converter.
Wird beispielsweise bei konstanter Drehzahl des Elektromotors eine pulsierende Förderung von Hydraulikflüssigkeit durch die Pumpe als Fehlerzustand festge stellt, können durch Variation der Betriebsparameter des Elektromotors geeig nete Gegenmaßnahmen eingeleitet werden. If, for example, at a constant speed of the electric motor, a pulsating delivery of hydraulic fluid by the pump is determined as a fault condition, suitable countermeasures can be initiated by varying the operating parameters of the electric motor.
Gemäß einer besonders vorteilhaften Ausgestaltung der Erfindung ist mittels des Umrichters die Drehzahl des Elektromotors moduliert und durch Erfassung des Einflusses der Drehzahlmodulation auf das Drehmoment des Elektromotors sind Zustandsgrößen von Hydraulikkomponenten des Antriebssystems erfassbar. According to a particularly advantageous embodiment of the invention, the speed of the electric motor is modulated by means of the converter and by detecting the Influence of the speed modulation on the torque of the electric motor can be used to record state variables of hydraulic components of the drive system.
Dabei erfolgt für eine derartige Diagnose beziehungsweise Überwachung eine Mikromodulation der Drehzahl, die so gering ist, dass dadurch der mit dem Hyd- raulik- Aktor durchgeführte Arbeitsprozess nicht beeinflusst ist. For such a diagnosis or monitoring, the speed is micromodulated so low that the working process carried out with the hydraulic actuator is not influenced thereby.
Mit der Mikromodulation der Drehzahl des Elektromotors wird somit nur eine Testgröße generiert, um die darauffolgende Drehmomentänderung im Elektro motor festzustellen, anhand derer eine genaue Analyse des Hydrauliksystems als Teilsystem des Antriebssystems möglich ist. Dabei wird vorteilhaft als Zustandsgrößen die Kompressibilität, Viskosität und/oder Reibung der Hydraulikflüssigkeit in den Hydraulikleitungen ermittelt. With the micromodulation of the speed of the electric motor, only one test variable is generated in order to determine the subsequent torque change in the electric motor, by means of which a precise analysis of the hydraulic system as a subsystem of the drive system is possible. The compressibility, viscosity and / or friction of the hydraulic fluid in the hydraulic lines is advantageously determined as state variables.
Durch die Ermittlung der Viskosität der Hydraulikflüssigkeit kann, insbesondere in Kombination mit einer Temperaturmessung der Hydraulikflüssigkeit ermittelt werden, welche Hydraulikflüssigkeit verwendet wird. Damit kann kontrolliert werden, ob die richtige Hydraulikflüssigkeit im Einsatz ist. By determining the viscosity of the hydraulic fluid, in particular in combination with a temperature measurement of the hydraulic fluid, it can be determined which hydraulic fluid is used. This can be used to check whether the correct hydraulic fluid is in use.
Durch die Ermittlung der Kompressibilität kann insbesondere geprüft werden, ob Gasblasen im Hydrauliksystem vorhanden sind. By determining the compressibility, it can be checked in particular whether gas bubbles are present in the hydraulic system.
Eine wesentliche Voraussetzung für derartige Analysen ist die phasensynchrone Betrachtung des Drehmoments des Elektromotors bei einer vorhandenen Mikro- modulation der Drehzahl des Elektromotors. Eine weitere Voraussetzung ist die Anwendung des im Umrichter hinterlegten Modells des Antriebssystems. An essential prerequisite for such analyzes is the phase-synchronized consideration of the torque of the electric motor with an existing micro-modulation of the speed of the electric motor. Another requirement is the use of the drive system model stored in the converter.
Gemäß einer besonders vorteilhaften Ausgestaltung der Erfindung wird mit dem Umrichter als Modulationseinheit eine modulierte Kraft des Hydraulik-Aktors generiert. Durch den Umrichter wird über den Elektromotor die Hydraulikpumpe so be trieben, insbesondere durch eine Modulation der Drehzahl des Elektromotors, dass der Hydraulikdruck moduliert wird, wodurch auch die im Hydraulik- Aktor generierte Kraft oder das generierte Drehmoment moduliert wird. Damit wird, vorzugsweise ohne jegliche Benutzereingabe und vorzugsweise abhängig von applikationsspezifischen Randbedingungen der Betriebsmodus des Antriebssys tems geändert und zwar derart, dass der Hydraulik-Aktor definierte, hochdyna mische Arbeitsprozesse durchführt. According to a particularly advantageous embodiment of the invention, a modulated force of the hydraulic actuator is generated with the converter as a modulation unit. The hydraulic pump is operated by the converter via the electric motor, in particular by modulating the speed of the electric motor in such a way that the hydraulic pressure is modulated, which also modulates the force or torque generated in the hydraulic actuator. The operating mode of the drive system is thus changed, preferably without any user input and preferably depending on application-specific boundary conditions, in such a way that the hydraulic actuator carries out defined, highly dynamic work processes.
Ein Beispiel hierfür ist ein Antriebssystem, bei dem der Hydraulik- Aktor dazu genutzt wird, die Schaufel eines Baggers zu bewegen. Reicht bei einem sehr fes ten abzutragenden Medium die Kraft der Schaufel bei einer kontinuierlichen Ar beitsbewegung nicht aus in das Medium einzudringen, so wird dies im Umrichter dadurch festgestellt, dass bei sich nicht oder wenig bewegendem Hydraulik- Ak tor ein hohes Drehmoment des Elektromotors erzeugt wird. In diesem Fall schal tet der Umrichter selbsttätig auf einen Modulationsbetrieb um, so dass der Hyd raulik-Aktor und damit die Schaufel pulsierende Bewegungen durchführt, wodurch das Eindringen der Schaufel in das Medium erheblich erleichtert wird. An example of this is a drive system in which the hydraulic actuator is used to move the bucket of an excavator. If the force of the bucket is not sufficient to penetrate the medium during a continuous working movement in the case of a very solid medium to be removed, this is determined in the converter by the fact that a high torque of the electric motor is generated when the hydraulic actuator is not or only slightly moving . In this case, the converter automatically switches to modulation mode so that the hydraulic actuator and thus the blade perform pulsating movements, which considerably facilitates the penetration of the blade into the medium.
Gemäß einer weiteren Ausführungsform wird mit dem Umrichter als Modulati onseinheit durch eine Modulation der Bewegung des Elektromotors eine Schmierung der Hydraulikpumpe bewirkt. According to a further embodiment, the hydraulic pump is lubricated with the converter as a modulation unit by modulating the movement of the electric motor.
Hierbei liegt der Erfindung die Erkenntnis zugrunde, dass bei Hydraulikpumpen, insbesondere Verdrängerpumpen, stets eine Mindestdrehzahl des Elektromotors, der auf die Hydraulikpumpe wirkt, vorhanden sein muss, dass hinreichend Hyd raulikflüssigkeit im Umlauf ist und ein Trockenlaufen von Komponenten der Hydraulikpumpe verhindert. Durch die erfindungsgemäße Modulation der Dreh zahl des Elektromotors kann diese Anforderung auf einfache Weise erfüllt wer den. The invention is based on the finding that in hydraulic pumps, in particular positive displacement pumps, there must always be a minimum speed of the electric motor which acts on the hydraulic pump, that sufficient hydraulic fluid is in circulation and prevents components of the hydraulic pump from running dry. By modulating the speed of the electric motor according to the invention, this requirement can be met in a simple manner.
Die Erfindung wird im Folgenden anhand der Zeichnungen erläutert. Es zeigt: Figur 1 : Schematische Darstellung eines Ausführungsbeispiels des erfin dungsgemäßen Antriebssystems. The invention is explained below with reference to the drawings. It shows: Figure 1: Schematic representation of an embodiment of the inventive drive system.
Figur 1 zeigt in einer schematischen Darstellung ein Ausführungsbeispiel des erfindungsgemäßen Antriebssystems 1. Das Antriebssystem 1 umfasst als elek- irische Komponenten einen Elektromotor 2 und einen Umrichter 3. Mit diesen elektrischen Komponenten wird ein Hydrauliksystem betrieben und gesteuert. Das Hydrauliksystem umfasst eine Hydraulikpumpe 4, die in Form einer Ver drängerpumpe ausgebildet ist. Von der Hydraulikpumpe 4 führen zwei Hydrau likleitungen 5a, 5b zu einem Hydraulik- Aktor 6, der in Form eines Hydraulikzy- linders aus gebildet ist, welcher einen in einem Gehäuse 6a geführten Stempel 6b aufweist. Mit der Hydraulikpumpe 4 wird in den Hydraulikleitungen 5 a, 5b ge führte Hydraulikflüssigkeit gefördert beziehungsweise transportiert, wobei durch Aufbauen eines bestimmten Drucks der Hydraulikflüssigkeit in einer der Hydraulikleitungen 5a, 5b der Hydraulik-Aktor 6 betätigt werden kann. Weiter- hin ist ein Speicher 7 vorgesehen, der Hydraulikflüssigkeit aufhehmen kann. Der Speicher 7 dient zum Ausgleich von Volumenschwankungen der Hydraulikflüs sigkeit, die beispielsweise durch Temperaturschwankungen bedingt sein kön nen. In der Figur 1 ist beispielhaft eine bidirektional betreibbare Hydraulik pumpe abgebildet. Dies ist aber nur ein Ausführungsbeispiel. Eine weitere Mög- lichkeit ist die Verwendung von unidirektionalen Pumpen die weit verbreitet sind. In diesem Fall erfolgt die Richtungsänderung über Umschalt ventile . Dies ist dann auch in der Bauart eines offenen Systems umsetzbar in welchem der hydraulische Rücklauf drucklos sein kann. FIG. 1 shows a schematic illustration of an exemplary embodiment of the drive system 1 according to the invention. The drive system 1 comprises, as electrical components, an electric motor 2 and a converter 3. A hydraulic system is operated and controlled with these electrical components. The hydraulic system comprises a hydraulic pump 4, which is designed in the form of a displacement pump. From the hydraulic pump 4, two hydraulic lines 5a, 5b lead to a hydraulic actuator 6, which is designed in the form of a hydraulic cylinder which has a plunger 6b guided in a housing 6a. With the hydraulic pump 4 ge hydraulic fluid is conveyed or transported in the hydraulic lines 5 a, 5 b, it being possible to actuate the hydraulic actuator 6 by building up a specific pressure of the hydraulic fluid in one of the hydraulic lines 5 a, 5 b. Furthermore, a memory 7 is provided, which can hold hydraulic fluid. The memory 7 serves to compensate for volume fluctuations in the hydraulic fluid, which may be caused, for example, by temperature fluctuations. A bidirectionally operable hydraulic pump is shown as an example in FIG. But this is only one embodiment. Another possibility is the use of unidirectional pumps which are widely used. In this case, the direction change takes place via changeover valves. This can then also be implemented in the form of an open system in which the hydraulic return can be depressurized.
Weiterhin ist es möglich, zwei unidirektionale Hydraulikpumpen einzusetzen, wobei eine Hydraulikpumpe für die Vorwärtsrichtung und die weitere Hydrau likpumpe für die Rückwärtsrichtung eingesetzt wird. It is also possible to use two unidirectional hydraulic pumps, one hydraulic pump for the forward direction and another hydraulic pump for the reverse direction.
Der Umrichter 3 umfasst eine Rechnereinheit mit einer darin integrierten Re geleinheit. Für die Regelung liegen im Umrichter 3 als Messgrößen die Ströme des Elektromotors 2 in allen Phasen, die Spannung des Elektromotors 2 und die Rotorposition des Rotors des Elektromotors 2 vor. Aus diesen Messgrößen kön nen in der Regeleinheit des Umrichters 3 als Abgabekenngrößen des Elektromo tors 2 die Drehzahl, das Drehmoment und die Leistung abgeleitet werden. The converter 3 comprises a computer unit with a control unit integrated therein. For the control, the currents of the electric motor 2 in all phases, the voltage of the electric motor 2 and the are in the converter 3 as measured variables Rotor position of the rotor of the electric motor 2 before. From these measured variables, the speed, the torque and the power can be derived in the control unit of the converter 3 as output parameters of the electric motor 2.
Die Funktionsweise des Antriebssystems 1 ist derart, dass mit der Regeleinheit eine Regelung des Elektromotors 2 in vier Quadranten erfolgt. Der Elektromotor 2 wirkt dabei in vier Quadranten auf die Hydraulikpumpe 4. Durch die Regelung des Elektromotors 2 wird somit die Hydraulikpumpe 4 so betätigt, dass mit die ser wahlweise in der ersten Hydraulikleitung 5 a oder in der zweiten Hydraulik leitung 5b ein erhöhter Druck erzeugt wird, wodurch der Stempel 6b des Hyd raulikzylinders nach unten beziehungsweise nach oben bewegt wird. Durch den so betätigten Hydraulikzylinder werden Arbeitsprozesse durchgeführt, wobei hierzu der Hydraulikzylinder mit einem entsprechenden Arbeitsgerät verbunden ist, beispielsweise mit der Schaufel eines Baggers. The functioning of the drive system 1 is such that the control unit regulates the electric motor 2 in four quadrants. The electric motor 2 acts in four quadrants on the hydraulic pump 4. By regulating the electric motor 2, the hydraulic pump 4 is thus actuated so that an increased pressure is optionally generated in the first hydraulic line 5a or in the second hydraulic line 5b , whereby the plunger 6b of the hydraulic cylinder is moved downwards or upwards. Working processes are carried out by the hydraulic cylinder actuated in this way, for which purpose the hydraulic cylinder is connected to a corresponding working device, for example to the bucket of an excavator.
Im Umsetzungsfall als unidirektionale Pumpe mit Umsteuerventilen für die Richtungsänderung wird der E-Motor nur in 2 Quadranten betrieben, was aber eine funktionale Untermenge darstellt. In the case of implementation as a unidirectional pump with reversing valves for changing the direction, the electric motor is only operated in 2 quadrants, which is a functional subset.
Typischerweise führt die Schaufel eine kontinuierliche in eine Richtung gerich tete Arbeitsbewegung aus. Typically, the bucket performs a unidirectional working movement.
Erfindungsgemäß kann mittels der Regeleinheit, insbesondere dann, wenn die Schaufel eines Baggers in einem festen Untergrund festgefahren ist, selbsttätig in einem dynamischen Arbeitsbetrieb betrieben werden. Der Umrichter 3 mit der Regeleinheit bildet dann eine Modulationseinheit derart, dass die Drehzahl des Elektromotors 2 moduliert wird, so dass mittels der Hydraulikpumpe 4 eine mo dulierte Kraft des Hydraulik-Aktors 6 generiert wird. Dadurch wird eine puls- förmige, modulierte Bewegung der Schaufel generiert, die ein Eindringen der Schaufel in den festen Untergrund erleichtert. Die Modulation der Drehzahl des Elektromotors 2 kann auch zur Schmierung der Hydraulikpumpe 4 verwendet werden, da die Modulation dafür sorgt, dass die Hydraulikflüssigkeit zu sämtlichen Teilen der Hydraulikpumpe 4 gelangt und diese schmiert. Erfindungsgemäß ist in der Regeleinheit des Umrichters 3 ein Modell des ge samten Antriebssystems 1 hinterlegt. Anhand dieses Modells kann im Umrichter 3 durch Erfassung von Ausgabegrößen des Elektromotors 2 wie Drehzahl oder Drehmoment eine Ermittlung und Überwachung von Kenngrößen des Hydrau liksystems durchgeführt werden. So kann durch Bestimmung des Drehmoments des Elektromotors 2 der Hydraulikdruck der Hydraulikflüssigkeit in den Hyd raulikleitungen 5 a, 5b bestimmt und überwacht werden. Ebenso kann auf diese Weise die Kraft des Hydraulik- Aktors 6 bestimmt und überwacht werden. Auch können im Hydrauliksystem vorhandene Reibungskräfte oder auch Leckage- o- der Rückströmverluste ermittelt werden. Eine erweiterte Überwachungsmöglichkeit ergibt sich durch eine Mikromodula tion der Drehzahl des Elektromotors 2, die den Arbeitsprozess des Elektromotors 2 unverändert lässt. Durch diese Mikromodulation können Zustandsgrößen des Hydrauliksystems ermittelt werden, insbesondere die Viskosität, Kompressibili tät oder Reibung der Hydraulikflüssigkeit in den Hydraulikleitungen 5a, 5b. According to the invention, the control unit can operate automatically in a dynamic working mode, in particular when the bucket of an excavator is stuck in a solid base. The converter 3 with the control unit then forms a modulation unit such that the rotational speed of the electric motor 2 is modulated, so that a modulated force of the hydraulic actuator 6 is generated by means of the hydraulic pump 4. This generates a pulsed, modulated movement of the blade, which facilitates penetration of the blade into the solid surface. The modulation of the speed of the electric motor 2 can also be used to lubricate the hydraulic pump 4, since the modulation ensures that the hydraulic fluid reaches and lubricates all parts of the hydraulic pump 4. According to the invention, a model of the entire drive system 1 is stored in the control unit of the converter 3. Using this model, the determination and monitoring of parameters of the hydraulic system can be carried out in the converter 3 by detecting output variables of the electric motor 2, such as speed or torque. Thus, by determining the torque of the electric motor 2, the hydraulic pressure of the hydraulic fluid in the hydraulic lines 5 a, 5 b can be determined and monitored. The force of the hydraulic actuator 6 can also be determined and monitored in this way. Frictional forces or leakage or backflow losses in the hydraulic system can also be determined. An expanded monitoring option results from a micromodulation of the rotational speed of the electric motor 2, which leaves the working process of the electric motor 2 unchanged. This micromodulation enables state variables of the hydraulic system to be determined, in particular the viscosity, compressibility or friction of the hydraulic fluid in the hydraulic lines 5a, 5b.
Bezugszeichenliste Reference symbol list
( 1 ) Antrieb ssy stem(1) Drive system
(2) Elektromotor(2) electric motor
(3) Umrichter(3) converter
(4) Hydraulikpumpe (5 a) Hydraulikleitung (5b) Hydraulikleitung(4) hydraulic pump (5 a) hydraulic line (5b) hydraulic line
(6) Hydraulik-Aktor (6a) Gehäuse(6) hydraulic actuator (6a) housing
(6b) Stempel(6b) stamp
(7) Speicher (7) memory

Claims

Patentansprüche Claims
1. Antriebssystem (1) mit einem Elektromotor (2), einem diesem zugeordne ten Umrichter (3) und einem Hydraulik- Aktor (6), welcher über eine vom Elektromotor (2) gesteuerte Hydraulikpumpe (4) und eine in einer Hyd raulikleitung (5 a, 5b) geführte Hydraulikflüssigkeit betätigbar ist, dadurch gekennzeichnet, dass der Umrichter (3) eine Überwachungsein heit bildet, mittels derer eine Zustandsüberwachung von Komponenten des Antriebssystems (1) durchführbar ist, und/oder dass der Umrichter (3) eine Modulationseinheit bildet, mittels derer Arbeitsprozesse des Hydraulik- Aktors (6) beeinflussbar sind. 1. Drive system (1) with an electric motor (2), an associated with this converter (3) and a hydraulic actuator (6), which is controlled by an electric motor (2) hydraulic pump (4) and a hydraulic line in a hyd ( 5 a, 5 b) guided hydraulic fluid can be actuated, characterized in that the converter (3) forms a monitoring unit by means of which status monitoring of components of the drive system (1) can be carried out, and / or that the converter (3) forms a modulation unit , by means of which work processes of the hydraulic actuator (6) can be influenced.
2. Antriebssystem (1) nach Anspruch 1, dadurch gekennzeichnet, dass mit tels des Umrichters (3) als Überwachungseinheit Überwachungen in Echt zeit durchführbar sind. 2. Drive system (1) according to claim 1, characterized in that monitoring means can be carried out in real time by means of the converter (3) as a monitoring unit.
3. Antriebssystem (1) nach einem der Ansprüche 1 oder 2, dadurch gekenn zeichnet, dass in dem Umrichter (3) eine Regeleinheit integriert ist, mittels der die Funktionen der Überwachungseinheit und der Modulationseinheit realisierbar sind. 3. Drive system (1) according to one of claims 1 or 2, characterized in that a control unit is integrated in the converter (3), by means of which the functions of the monitoring unit and the modulation unit can be implemented.
4. Antriebssystem (1) nach einem der Ansprüche 1 - 3, dadurch gekennzeich net, dass mittels des Umrichters (3) das Drehmoment des Elektromotors (2) erfassbar ist, und dass aus diesem und einem im Umrichter (3) hinter legten Modell des Antriebssystems (1) der Hydraulikdruck der Hydraulik flüssigkeit in der Hydraulikleitung (5 a, 5b) bestimmbar ist. 4. Drive system (1) according to any one of claims 1-3, characterized in that by means of the converter (3) the torque of the electric motor (2) can be detected, and that from this and a stored in the converter (3) model of Drive system (1) the hydraulic pressure of the hydraulic fluid in the hydraulic line (5 a, 5b) can be determined.
5. Antriebssystem (1) nach Anspruch 4, dadurch gekennzeichnet, dass der im Umrichter (3) bestimmte Hydraulikdruck eine Kenngröße für die Überwa chung des Arbeitsprozesses bildet. 5. Drive system (1) according to claim 4, characterized in that the hydraulic pressure determined in the converter (3) forms a parameter for monitoring the working process.
6. Antriebssystem (1) nach Anspruch 4, dadurch gekennzeichnet, dass ab- hängig von dem im Umrichter (3) bestimmten Hydraulikdruck eine6. Drive system (1) according to claim 4, characterized in that depending on the hydraulic pressure determined in the converter (3)
Schnellbremsung des Elektromotors (2) zur Vermeidung von Überlastsi tuationen durchführbar ist, oder dass abhängig von dem im Umrichter (3) realisierten Hydraulikdruck eine Schwingungsdämpfung von Komponen ten des Antriebssystems (1) durchführbar ist. Rapid braking of the electric motor (2) can be carried out to avoid overload situations, or that, depending on the hydraulic pressure realized in the converter (3), vibration damping of components of the drive system (1) can be carried out.
7. Antrieb ssy stem ( 1 ) nach einem der Ansprüche 1 - 3 , dadurch gekennzeich net, dass mittels des Umrichters (3) das Drehmoment des Elektromotors (2) erfassbar ist, und dass aus diesem und einem im Umrichter (3) hinter legten Modell des Antriebssystems (1) ein Drehmoment oder eine Kraft des Aktors bestimmbar ist. 7. drive system (1) according to one of claims 1-3, characterized in that by means of the converter (3) the torque of the electric motor (2) can be detected, and that of this and one in the converter (3) are deposited Model of the drive system (1) a torque or a force of the actuator can be determined.
8. Antriebssystem ( 1 ) nach einem der Ansprüche 1 - 7, dadurch gekennzeich net, dass mittels des Umrichters (3) bei Leerlauf des Elektromotors (2) und Arbeitsprozesse ausführendem Hydraulik-Aktor (6) Reibungskräfte er fassbar sind. 8. Drive system (1) according to one of claims 1-7, characterized in that by means of the converter (3) when the electric motor (2) and work processes executing hydraulic actuator (6) frictional forces are detectable.
9. Antriebssystem (1) nach einem der Ansprüche 1 - 8, dadurch gekennzeich- net, dass mittels des Umrichters (3) bei an einem Anschlag stillstehendem9. Drive system (1) according to one of claims 1-8, characterized in that by means of the converter (3) when stationary at a stop
Hydraulik- Aktor (6) durch Erfassung der Drehzahl des Elektromotors (2) Leckage- oder Rückströmverluste in den Hydraulikleitungen (5 a, 5b) er mittelbar sind. Hydraulic actuator (6) by detecting the speed of the electric motor (2) leakage or backflow losses in the hydraulic lines (5 a, 5b) are indirect.
10. Antriebssystem (1) nach einem der Ansprüche 1 - 9, dadurch gekennzeich net, dass mittels des Umrichters (3) die Förderung der Hydraulikflüssigkeit in den Hydraulikleitungen (5 a, 5b) überwacht wird. 10. Drive system (1) according to any one of claims 1-9, characterized in that the delivery of the hydraulic fluid in the hydraulic lines (5 a, 5b) is monitored by means of the converter (3).
11. Antriebssystem (1) nach einem der Ansprüche 1 - 10, dadurch gekenn zeichnet, dass mittels des Umrichters (3) die Drehzahl des Elektromotors (2) moduliert ist, und dass durch Erfassung des Einflusses der Drehzahl modulation auf das Drehmoment des Elektromotors (2) Zustandsgrößen von Hydraulikkomponenten des Antriebssystems (1) erfassbar sind. 11. Drive system (1) according to any one of claims 1-10, characterized in that by means of the converter (3) the speed of the electric motor (2) is modulated, and that by detecting the influence of the speed modulation on the torque of the electric motor ( 2) State variables of hydraulic components of the drive system (1) can be detected.
12. Antriebssystem (1) nach Anspruch 11, dadurch gekennzeichnet, dass als Zustandsgrößen die Kompressibilität, die Viskosität und/oder die Reibung der Hydraulikflüssigkeit in den Hydraulikleitungen (5 a, 5b) ermittelt wird. 12. Drive system (1) according to claim 11, characterized in that the compressibility, the viscosity and / or the friction of the hydraulic fluid in the hydraulic lines (5 a, 5b) is determined as the state variables.
13. Antriebssystem (1) nach einem der Ansprüche 1 - 12, dadurch gekenn zeichnet, dass mit dem Umrichter (3) als Modulationseinheit eine modu lierte Kraft des Hydraulik- Aktors (6) generiert wird. 13. Drive system (1) according to any one of claims 1-12, characterized in that a modulated force of the hydraulic actuator (6) is generated with the converter (3) as a modulation unit.
14. Antriebssystem (1) nach einem der Ansprüche 1 - 13, dadurch gekenn zeichnet, dass mit dem Umrichter (3) als Modulationseinheit durch eine Modulation der Bewegung des Elektromotors (2) eine Schmierung der Hydraulikpumpe (4) bewirkt wird. 14. Drive system (1) according to one of claims 1-13, characterized in that with the converter (3) as a modulation unit by modulating the movement of the electric motor (2) lubrication of the hydraulic pump (4) is effected.
15. Antriebssystem (1) nach einem der Ansprüche 13 oder 14, dadurch ge kennzeichnet, dass der Umrichter (3) als Modulationseinheit die Drehzahl des Elektromotors (2) moduliert. 15. Drive system (1) according to one of claims 13 or 14, characterized in that the converter (3) modulates the speed of the electric motor (2) as a modulation unit.
PCT/EP2019/076524 2018-11-23 2019-10-01 Drive system WO2020104090A1 (en)

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Citations (3)

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Publication number Priority date Publication date Assignee Title
WO2011031851A2 (en) * 2009-09-10 2011-03-17 Bucyrus International, Inc. Technique for controlling pumps in a hydraulic system
WO2011141084A1 (en) * 2010-05-11 2011-11-17 Hydac Electronic Gmbh Drive system having at least one hydraulic actuator
WO2017186712A1 (en) * 2016-04-25 2017-11-02 Robert Bosch Gmbh Hydraulic spindle for a press

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011031851A2 (en) * 2009-09-10 2011-03-17 Bucyrus International, Inc. Technique for controlling pumps in a hydraulic system
WO2011141084A1 (en) * 2010-05-11 2011-11-17 Hydac Electronic Gmbh Drive system having at least one hydraulic actuator
WO2017186712A1 (en) * 2016-04-25 2017-11-02 Robert Bosch Gmbh Hydraulic spindle for a press

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