• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A hydraulic system with: a pressure line (40); a pump (12); an actuator (22); a valve device (38) adapted to regulate the flow of hydraulic fluid under pressure to the actuator (22); an electronic controller (30) adapted to control the valve assembly (38) with a control signal (32) proportional to the speed of the actuator (10) at each time; a pressure accumulator (26) capable of supplying the hydraulic fluid under pressure with the pump (12) to drive the actuator (22); a sensor donor (34, 36) adapted to measure directly or indirectly the amount of hydraulic fluid under pressure in the pressure accumulator (26) at any time; adjustment means adapted to set a setpoint signal (50) proportional to the target speed of the actuator (22) at each time point. An electronic control unit (30) is adapted to limit the target speed of the actuator (22) to at most a predetermined maximum speed, which maximum speed is proportional to the amount of hydraulic fluid under pressure in the pressure accumulator (26). According to one example, said sensor means (34, 36) is adapted to measure the pressure of the hydraulic fluid or the amount of hydraulic fluid in the pressure accumulator (26). According to one example, the system is arranged in a crane which can be found in a working machine.
    公开号:FI20175884A1
    申请号:FI20175884
    申请日:2017-10-09
    公开日:2019-04-10
    发明作者:Ari Lappalainen；Mika Sahlman；Jussi Mäkitalo；Peter Stambro
    申请人:Norrhydro Oy；
    IPC主号:
    专利说明:

    HYDRAULIC SYSTEM AND ITS CONTROL SYSTEM
    Object of the invention
    The object of the disclosed solution is a system having a hydraulic system and a control system thereof. The object of the disclosed solution is also a method for controlling the system in question.
    Background of the Invention
    Hydraulic systems use hydraulic pressure accumulators to receive and store pressurized hydraulic fluid. The hydraulic system can recover pressurized hydraulic fluid from the accumulator if required. Thus, a certain amount of energy 15 can be stored in the pressure accumulator, which can be returned to the operation of the hydraulic system, for example to one or more hydraulic actuators. The pressure accumulator can be supplied with a hydraulic fluid flow rate to the actuator which can be kept in motion by the flow rate of the accumulator.
    A predetermined maximum amount of hydraulic fluid can be stored in a pressure accumulator, so that, for example, the actuator movement cannot be sustained indefinitely, since the accumulator is depleted and, in most cases, also depressurised. Stopping the flow of hydraulic fluid may result in changes in the behavior of the actuator that are not controllable or undesirable, such as a sudden decrease in the actuator speed.
    BRIEF SUMMARY OF THE INVENTION
    The hydraulic system formed by the hydraulic system and its control system 30 according to the disclosed solution is disclosed in claim 1. Other claims provide some examples of such solution.
    The system according to the embodiment which operates hydraulically has a pressure line from which pressurized hydraulic fluid is available; a pump 35 adapted to supply pressurized hydraulic fluid to the pressure line; an actuator communicating with the pressure line for receiving the pressurized hydraulic fluid
    20175884 prh 09 -10-2017 from the pressure line and for moving the actuator; a valve device adapted to control the flow of pressurized hydraulic fluid from the pressure line to the actuator and the speed of movement of the actuator; an electronic control unit adapted to monitor and control system functions, to control the valve device 5 with a control signal proportional to the desired actuator movement speed at each instant; a pressure accumulator communicating with a pressure line from which the pressure accumulator can receive a pressurized hydraulic fluid and to which a pressure accumulator can simultaneously supply a pressurized hydraulic fluid with the pump to move the actuator; a sensor member adapted to directly or indirectly measure the amount of pressurized hydraulic fluid contained in the pressure accumulator at each instant and which sensor member is adapted to transmit to the electronic control unit a measuring signal proportional to the amount of hydraulic fluid under pressure; and actuators adapted to generate the actuation signal and to set said actuation signal proportional to the actuator's desired speed of motion at each instant.
    In the embodiment shown, said electronic control unit is adapted to limit the desired travel speed of the actuator to a predetermined maximum speed of 20 which is proportional to the amount of pressurized hydraulic fluid contained in the pressure accumulator.
    According to one example of the disclosed solution, the electronic control unit is adapted to limit the desired travel speed of the actuator to a maximum speed which, in addition to the above amount, is proportional to the pressure of the hydraulic fluid contained in the pressure accumulator.
    In accordance with one example of the disclosed solution, the electronic control unit is adapted to limit the actuator's desired travel speed to a maximum speed 30 which, in addition to the aforementioned amount and pressure, is proportional to the actuator power generated at any given time.
    In the method according to the embodiment shown, the desired movement speed of the actuator is limited to a maximum of a predetermined maximum speed of 35 which is proportional to the amount of hydraulic fluid under pressure in the pressure accumulator.
    20175884 prh 09 -10- 2017
    The system of the disclosed solution can be applied to a crane comprising a boom for lifting and moving loads, or to a machine which may be used to lift or move loads. The boom in question is adapted to be movable through the above system. The boom in question may be located on a moving machine.
    An advantage of the hydraulic control system of the disclosed solution is the maximum utilization of the energy stored in the pressure accumulator so that a sudden change in the actuator speed caused by the discharge of the 10 accumulator is avoided.
    Description of the drawings
    The solution described will now be described in more detail with reference to the accompanying drawings.
    Figure 1 illustrates the principle of implementing a hydraulic system and its control system, in which the 20 solutions described can be applied.
    Figure 2 illustrates the principle of controlling the actuator speed v of the system of Figure 1 and setting its maximum speed vmax based on the amount of hydraulic fluid V contained in the pressure accumulator.
    Detailed Description of the Invention
    Figure 1 shows an example of a hydraulic system and a control system for controlling it, in which solution 30 shown in the example can be applied.
    The hydraulic system and control system thereof, i.e. system 10, comprises a pressure line 40, at least one actuator 22, at least one valve means 38 for controlling the volume flow of hydraulic fluid, at least one hydraulic pressure accumulator 26, at least one sensor member 34 and / or
    A sensor element 36, at least one hydraulic pump 12, and an electronic control unit 30 for controlling the operation of the system 10.
    The actuator 22 may be adapted to move the load 48 to which the actuator exerts a force dependent on the pressure of the hydraulic fluid supplied to the actuator 22 within the actuator 22 and the dimensioning of the actuator 22. Preferably it is a linear actuator, for example a hydraulic cylinder having a reciprocating piston. The actuator 22 is arranged to move in two opposite directions X1 and X2.
    When the hydraulic fluid is supplied to the actuator 22, the actuator 22 either elongates and moves in the direction X1 or shortens and moves in the direction X2. According to one example, when the hydraulic fluid is discharged from the actuator 22, the actuator 22 moves in the opposite direction relative to the situation where the hydraulic fluid is supplied to the actuator 22. The speed of motion of the actuator 22 and volume of actuator 22.
    The actuator 22 communicates with the pressure line 40, which provides pressurized hydraulic fluid which is supplied to the actuator 22. The pressure line 40 may be provided with valve means, such as a valve actuator 20, designed to limit the hydraulic fluid pressure of the pressure line 40 to a predetermined maximum.
    The actuator 22 may be either 1 or 2 actuators. The actuator 22 may be single or double chamber or multiple chamber. To move the actuator 22, the hydraulic fluid is supplied to one or more chambers of the actuator 22. As the actuator 22 moves, the hydraulic fluid may simultaneously escape from one or more other chambers of the actuator 22.
    The pump 12 is adapted to supply a pressurized hydraulic fluid 40 to the pressure line 40. Pump 12 communicates with pressure line 40 via line 44, for example. The maximum volume flow rate and maximum pressure of the hydraulic fluid produced by the pump 12 depend on the dimensioning of the pump 12.
    20175884 prh 09 -10- 2017
    The pump 12 is of the fixed volume type or, preferably, a variable volume pump, by means of which the volume flow produced by the pump 12 can be adjusted, for example, within predetermined minimum and maximum values. The pump 12 is rotated by the motor 14. The motor 5 14 is, for example, an electric motor or an internal combustion engine.
    The pump 12 receives the hydraulic fluid it needs from, for example, the hydraulic fluid tank 18.
    The hydraulic fluid returns from the actuator 22 to another pressure line 42, for example, where the hydraulic fluid pressure is lower than the pressure line 40. The pressure line 42 may also serve as a tank line through which the hydraulic fluid returned from the actuator 22 is transferred to the tank 18. The tank 18
    System 10 may comprise a valve device 20 for controlling the flow and flow of hydraulic fluid from pump 12 to pressure line 40, and vice versa. The valve device 20 may be located, for example, in line 44. The valve device 20 may also be adapted to control the entry and flow of hydraulic fluid 20 from the pressure line 40 to the tank 18. The valve device 20 may include one or more control valves.
    The valve means 38 controls the flow of hydraulic fluid from the pressure line 40 to the actuator 22, for example to and from its one or more chambers. Preferably, the valve device 38 is further adapted to close the connection and volume flow between the pressure line 40 and the actuator. The valve means 38 controls the volume flow rate of the hydraulic fluid, which in turn determines the speed of movement of the actuator 22. At the same time, the maximum volumetric flow rate, depending on the dimensioning of the valve actuator 38, also determines the movement speed 30 of the actuator 22 at maximum. The valve device 38 is preferably electronically controlled for volume flow control.
    The valve device 38 may include one or more control valves of the type, for example a proportional directional valve 35, which is electronically controlled and has a flow rate proportional to the control signal received by the valve device 38. An example of such a control valve is
    20175884 prh 09 -10- 2017 proportional 2 position 2 way directional valve. The control valve in question may be stationary, power feedback or speed feedback. For each chamber of the actuator 22 there is one control valve or a plurality of parallel control valves for supplying hydraulic fluid 5 from the pressure line 40 to the actuator 22. These parallel control valves may alternatively be, for example, on / off controlled directional valves or shut-off valves.
    The valve device 38 is controlled by an electronic control unit 30, which may include, for example, one or more electronic control cards for controlling the valve device 38. The function of the control unit 30 is to generate a control signal 32 which controls the valve device 38 and is, for example, a current signal.
    The functions of the system 10 are monitored and controlled by the control unit 30.
    The control unit 30 is preferably a microprocessor-based device that is programmable and implements control algorithms implementing one or more computational and logical functions stored in its memory. The control unit 30 includes interfaces for connecting, for example, signals produced by sensors and control devices, and interfaces for connecting control signals generated in the control unit 30. These control algorithms produce, for example on the basis of the above signals, a predetermined control signal at each moment. The control unit 30 has or can be connected to a user interface device through which the operation of the control unit 30 can be controlled. The control unit 30 may be based on programmable logic or a computer controlled by the operating system and the user. The control unit 30 may consist of one or more separate devices or form a distributed system in which the various components or the aforementioned devices communicate with one another or talk to one another.
    The control signal 32 is dependent, for example, on the movement speed or volume flow of the actuator 22 which is to be realized at any given time by the valve device 38. A controller, e.g., a PID controller, which is implemented in the control unit 30 and is based, for example, on station feedback, power feedback, or speed feedback, can be utilized in generating said control signal 32. For adjustment
    The system 10 may include sensor means for measuring the speed of the actuator 22 and for transmitting said measurement signal to the control unit 30.
    The system 10 may further comprise one or more control devices 24 which are coupled to the control unit 30 and are intended to control the system 10, for example its actuator 22. The control device 24 is, for example, a manually operated control stick, according to one example. User controls the joystick. The control device 24 is adapted to provide a setting signal 50 which is dependent on the position of the control device 24, for example the amount of tilt of the joystick 10. Said setting signal 50 is supplied to the control unit 30.
    Alternatively, said setting signal 50 may be provided by control devices, such as control unit 30 or a part thereof, device connected to control unit 30 15 or control device 24 described above. In control unit 30, control signal 30 may be manually set by control unit 30 or may be generated programmatically , which are intended to influence the movement speed of the actuator 22.
    For example, the movement speed of the actuator 22 is controlled via the control device 24 such that the movement speed of the actuator 22 is different in different positions of the control device 24 or the joystick. The desired travel speed of the actuator 22 is proportional to the position of the control device 24 or the joystick. The control algorithm of the control unit 30 is adapted on the basis of the setting signal 50 to control the valve device 38 in turn, so that the desired movement speed of the actuator 22 is achieved.
    The pressure accumulator 26 communicates with the pressure line 40, from which the pressure accumulator 26 can receive pressurized hydraulic fluid and to which the pressure accumulator 26 delivers pressurized hydraulic fluid. The pressure accumulator 26 has a predetermined useful volume based on sizing that is proportional to the maximum amount of hydraulic fluid that can be dispensed from the pressure accumulator 26 to the pressure line 40, for example, over a period of time.
    20175884 prh 09 -10- 2017
    The pressure accumulator 26 may be a weight-loaded battery, a spring-loaded battery, or preferably a gas-loaded battery. The gas-charged battery in question is of the bladder or diaphragm type, or preferably a piston battery. A gas-laden battery is characterized in that the pressure of the hydraulic fluid contained therein decreases while the amount of hydraulic fluid in question decreases.
    If necessary, based on the above dependency, the amount of hydraulic fluid in the pressure accumulator 26 can be estimated by measuring the pressure of the hydraulic fluid 10 in, for example, the line to which the pressure accumulator 26 is connected, such as pressure line 40.
    The pressure accumulator 26 can be charged with pressurized hydraulic fluid to charge it.
    The pressure accumulator 26 is dimensioned, for example, so that it can receive 15 hydraulic fluids when the pressure in the pressure line 40 is equal to or above a predetermined minimum pressure. The design of a gas-laden battery is based, for example, on the pre-charge pressure of the gas used in the pressure accumulator. That minimum pressure is selected, for example, to be less than the pressure in the pressure line 40, for example, when the load 48 is moved by the actuator 20 22 or the actuator 22 is stopped.
    A pressure member 36 may be coupled to the pressure line 40, adapted to measure the pressure of the hydraulic fluid contained in the pressure line 40. The system 10 may also have other hydraulic fluid pressure sensing means communicating with the control unit 30, for example to measure the pressure in the pressure line 40.
    The sensor member 36 generates a measuring signal 16, which is, for example, electrical, which measuring signal 16 is proportional to the measured pressure. 30 This is for example a power signal. The sensor member 36 communicates with the control unit 30 for transmitting the measurement signal 16 to the control unit 30, wherein the measurement signal 16 is input to the control algorithm.
    Based on the measurement signal 16 formed by the sensor member 36, the amount of hydraulic fluid in the pressure accumulator 26 can be indirectly measured 35 by measuring the pressure in the pressure line 40. The control unit 30 is adapted to determine the pressure accumulator
    20175884 prh 09 -10- 2017 amount of hydraulic fluid mm. based on the characteristics of the pressure accumulator 26 and that pressure. In this reasoning, the control unit 30 may take into account, for example, the known behavior of gas pre-charge pressure or gas volume changes in the pressure accumulator 26, for example an adiabatic change.
    In the accumulator 26, the pressure of the gas follows the pressure of the hydraulic fluid, which in turn tends to follow the pressure of the pressure line 40, and the volume of the gas in turn depends on the pressure of the gas.
    In one embodiment of the solution shown in the system 10, the pressure accumulator 26 is coupled to a sensor member 34 which is adapted to measure the amount of hydraulic fluid contained in the pressure accumulator 26 10 either directly or indirectly. The sensor member 34 may be adapted to measure the amount of hydraulic fluid, for example indirectly, based on the measured position of any moving part of the pressure accumulator 26, which is dependent on the amount of hydraulic fluid. The part in question is, for example, a bladder battery bladder, a diaphragm battery diaphragm, or preferably a piston battery piston. The operation of the sensor member 34 may be based on a non-contact measurement, a linear sensor or a cable pulling device.
    The sensor member 34 generates a measuring signal 28 which is, for example, electrical, which measuring signal 28 is proportional to the amount of hydraulic fluid 20 contained in the pressure accumulator 26 or the aforementioned measured position.
    For example, this is a power signal. The sensor member 34 communicates with the control unit 30 for transmitting the measurement signal 28 to the control unit 30, wherein the measurement signal 28 is input to the control algorithm. Either the sensor member 34 or the control unit 30 and its control algorithm can determine the amount of hydraulic fluid contained in the pressure accumulator 26 25 which is proportional to the aforementioned measured position.
    The sensor member 34 provides a simple measurement signal 28 in a simple manner to avoid the uncertainties associated with pressure measurement and gas 30 behavior.
    The pressure accumulator 26 and the pump 12 are arranged to simultaneously supply the hydraulic fluid to the actuator 22 via the pressure line 40 and the valve means 38 to move the actuator 22. The hydraulic fluid pressure 35 is then dimensioned according to the first example to be sufficient to move at least the actuator 22 and, if necessary, the load 48. The load 48 may be
    20175884 prh 09 -10- 2017 different size or vary in different situations, so the force needed to move it may vary. As the actuator 22 and load 48 stop, the pressure may further increase to the maximum value set on the pressure line 40 and the pressure accumulator 26 may be charged with pressurized hydraulic fluid. Alternatively, when the pressure increases sufficiently with the actuator 22 and the load 48 moving, the pressure accumulator 26 can be charged with pressurized hydraulic fluid.
    The maximum total flow rate produced by the accumulator 26 and the pump 12 determines the maximum movement speed of the actuator 22, since the volume flow represents the amount of hating hydraulic fluid 10 per unit time. In the solution shown, the maximum flow rate produced by the pump 12 is less than the maximum total flow rate mentioned above. According to one example, the maximum flow rate produced by the pump 12 is 80%, 60%, 40% or 20% of the maximum, or less, of said total flow rate.
    The movement speed of the actuator 22 is controlled below the maximum of said movement velocity by using a valve device 38 which is controlled by the control signal 32 generated by the control unit 30, based for example on the setting signal 50.
    The pressure accumulator 26 may be in a state where the total amount of hydraulic fluid contained therein is less than the amount of hydraulic fluid to be fed from the pressure accumulator 26 to the actuator 22 to move the actuator 22 at a desired movement velocity controlled by valve means 38 and e.g.
    In the embodiment shown, the maximum flow rate produced by the pump 12 is dimensioned less than the volume flow rate of the hydraulic fluid that must be fed from the pressure line 40 to the actuator 22 in order for the actuator 22 to move 30 using the maximum travel speed. According to one example, the maximum flow rate produced by the pump 12 is adapted to generate 80%, 60%, 40%, or 20% of the aforementioned movement velocity maximum, or less.
    The system 10 may be in the situation described above where the total amount of hydraulic fluid contained in the pressure accumulator 26 35 is not sufficient for the entire desired travel range of the actuator 22. In this case, when the pressure accumulator 26 is drained, the actuator 22
    20175884 prh 09 -10- 2017 the movement velocity may suddenly and uncontrollably collapse at the desired movement velocity, after which the actuator 22 continues to move at the movement velocity that depends on the flow rate produced by the pump 12.
    The solution presented seeks to avoid the problem described above.
    In the solution shown, the amount of hydraulic fluid in the pressure accumulator 26 is monitored at each time in the control unit 30, whereby the sensor member 34 and / or the sensor member 36 is utilized as described above.
    The control unit 30, guided by the control algorithm, is adapted to limit the maximum movement speed of the actuator 22 to a maximum value proportional to the amount of hydraulic fluid in the accumulator 26. Thus, the speed of motion of the actuator 22 can be controlled only in value or magnitude 15 such that the speed of motion at most corresponds to the above.
    or less than the maximum value. The movement speed of the actuator 22 is controlled by the valve means 38 and, for example, the setting signal 50, as described above.
    When the limitation is based solely on the amount of hydraulic fluid in the pressure accumulator 26, a simple operation is achieved with respect to control.
    Thus, when the above limitation is in use, the setting signal cannot actuate the actuator 22 to a movement speed exceeding 25 above. The control unit 30 controls the valve device 38 such that the control signal 32 generated by the control unit 30 and the control algorithm is now dependent, besides the setting signal 50, on the amount of hydraulic fluid in the pressure accumulator 22. The amount of hydraulic fluid in the pressure accumulator 22 is in turn measured by means of the sensor member 34 and / or the sensor member 34.
    If the system 10 has a control device 24, the predetermined position of the control device 24 generates a predetermined setting signal 50. Thus, when the above limitation is applied, a certain position of the control device 24 causes the actuator 22 to move at a speed 35 which is less than this same positioning results in a situation where the above limitation is not used. In such
    In the situation of 20175884 prh 09 -10-2017, the operator of the control unit 24 detects the deceleration of the actuator 22 even if the user does not change the position of the control unit 24.
    By means of the above-described limitation, the change in the movement speed 5 of the actuator 22 can be controlled, thus avoiding the sudden and uncontrolled collapse of the movement speed described above.
    The volume flow delivered by the accumulator 26, which is supplied to the actuator 22, depends on the dimensioning of the connections, the pressure line 40 and the valve member 38, such as the nominal size of the control valve 10. In the method described above, when no restriction is applied, the valve device 38 may be controlled such that the flow of hydraulic fluid is not restricted and / or the flow opening of one or more control valves therein is maximized. When a restriction is desired, the valve device 38 is controlled to restrict the flow of hydraulic fluid 15 and / or to reduce the flow opening of one or more control valves therein.
    According to one example of the solution presented, the control unit 30, controlled by the control algorithm, is adapted to limit the movement speed of the actuator 22 in the above manner, which takes into account the hydraulic fluid 26 pressure and the hydraulic fluid 26 pressure. This pressure is determined, for example, by means of the sensor member 36.
    The control unit 30 judges from the aforesaid quantity and pressure what is the energy stored in the pressure accumulator 26. The pressure accumulator 26 releases energy based on the amount of pressurized hydraulic fluid it can supply within a given time and at a given volume flow rate. An attempt is made to ensure the sufficiency of energy by limiting the power of the actuator 22 while also limiting its speed of movement as desired. The movement velocity can be determined, for example, from the force generated by the actuator 22, which in turn depends on the pressure and the dimensioning of the actuator 22.
    Thus, according to one example of the solution shown, the control unit 30 35, controlled by the control algorithm, is adapted to limit the movement speed of the actuator 22 in the manner described above, which takes into account the pressure accumulator 26.
    20175884 prh 09 -10- 2017 hydraulic fluid volume and pressure accumulator 26 hydraulic fluid, and in addition to take into account actuator 22 pressure. This force is determined, for example, by means of a sensor member or by the aforementioned pressure when the dimensioning of the actuator is known.
    According to an example of the solution shown, the control unit 30, guided by the control algorithm, is adapted to limit the maximum movement speed of the actuator 22 to a maximum value which decreases as the hydraulic fluid 26 is depressed, i.e. the smaller 10 is the hydraulic fluid 26.
    According to one example of the disclosed solution, the above limitation is introduced as a method when the hydraulic fluid volume of the pressure accumulator 22 has fallen below or below a predetermined limit.
    According to one example, the predetermined limit for hydraulic fluid volume of pressure accumulator 22 is 3%, 5%, 10%, 15%, 20% or 25% of the useful volume of pressure accumulator 22 or of the maximum amount of hydraulic fluid 20 that can be dispensed from pressure accumulator 26.
    According to one example, and in addition to the one described above, the control unit 30, guided by the control algorithm, is adapted to lower the maximum motion speed of the actuator 22 to a maximum value 25 proportional to the flow rate produced by the pump 12, e.g.
    The above-described proportionality may be based on a function based on the amount of hydraulic fluid 26 in the pressure accumulator, or be linearly plotted or follow the shape of a plotting curve 30 with respect to said amount of hydraulic fluid that is decreasing.
    Figure 2 illustrates, by way of example, the control of the travel speed v of the system actuator 22 and the determination of the maximum speed vmax 35 set therein, based on the amount of hydraulic fluid V contained in the pressure accumulator 26.
    20175884 prh 09 -10- 2017
    In the example of Figure 2, the above proportion (see fraction Q1 + f (Q2)) is linear, i.e. based on a function. This proportionality can also be based on a non-linear function. With the hydraulic fluid volume V of 5 having a value of Vx, the maximum speed vm of the actuator 22 can be deduced according to the solution shown. Thus, for this portion, movement speeds of the actuator 22 that are less than the set maximum value are also allowed.
    It is also realized in the example of Figure 2 that the above limitation is introduced as a method when the amount of hydraulic fluid in the pressure accumulator 22 has fallen to or below a predetermined limit. When the restriction is not in use (see section Q1 + Q2), the maximum velocity vmax is determined by the maximum flow rate co-produced by the pump 12 and 15 by the accumulator 26. Thus, for this portion, movement speeds of the actuator 22 that are less than the set maximum value are also allowed.
    In the example of Figure 2, when the amount of hydraulic fluid 20 in the pressure accumulator 22 has decreased sufficiently or completely, the above limitation has also been realized by lowering the maximum actuator speed to a maximum proportional to the maximum flow rate produced by pump 12 (see section Q1). In this portion, the movement speeds of the actuator 22 are also allowed, which are less than the set maximum value. In this case, these movement rates are based solely on the volume flow produced by the pump 12.
    In the example of Fig. 2, the symbol Q1 represents the maximum flow rate produced by the pump 12 and the symbol Q2 represents the volume flow produced by the pressure accumulator 26, which is fed to the actuator 22.
    The above hydraulic system and its control system can be applied to various cranes that lift and / or move loads. For this purpose, the crane may have a boom which can be turned sideways by means of a turning device 35. The boom may have a lifting boom which may be telescopically operable. The boom may also have a transport boom secured
    20175884 prh 09 -10- 2017 with articulated boom. The transfer boom may be telescopically operable. The foregoing actuator 22 may be an actuator for moving a boom, transfer boom, or lifting boom, in particular a linear actuator, wherein the load 48 described above may be a boom, transfer boom, or lift boom, either alone or in combination with a load supported by the boom.
    The foregoing crane and / or hydraulic system and its control system may be applicable to a variety of machine tools which may be designed to lift or move loads, independently of a moving, user-controlled device. The machine in question is a forestry machine, such as a forwarder or a harvester, 10 a construction machine or an earth-moving machine. The implement may have a tool, such as a bucket, attached to a mechanism by which the tool can be moved. The actuator 22 shown above may be an actuator for moving the mechanism in question.
    For the purposes of the above description, "proportionality" means the relation between two different variables, functions or factors that can be represented, for example, by a mathematical relation or function. Alternatively, or additionally, such proportionality refers to the relationship or 20 dependencies between the two different variables, functions, or factors in which the predetermined states of one variable, function, or factor correspond to the predetermined states of another variable, function, or factor. In this way, one variable, function or factor can be used to control another variable, function or factor so that the system according to the solution presented works for the desired purpose.
    The disclosed solution is not limited solely to the above alternatives, examples, and implementations, which are set forth above, and should not be used as sole embodiments of the presented solution. The above solution, alternatives, examples and embodiments can also be applied in a combination of 30 to achieve the above objectives.
    The embodiment of the solution shown is described in more detail in the appended claims.
    权利要求:
    Claims (15)
    [1]
    Claims:
    1. A system which operates hydraulically and has:
    a pressure line from which pressurized hydraulic fluid is available;
    5 a pump adapted to supply pressurized hydraulic fluid to the pressure line;
    an actuator communicating with the pressure line to receive the pressurized hydraulic fluid from the pressure line and move the actuator;
    a valve device adapted to control the flow of pressurized hydraulic fluid 10 from the pressure line to the actuator and the speed of movement of the actuator;
    an electronic control unit adapted to monitor and control system functions, to control the valve actuator with a control signal proportional to the desired actuator travel speed at any given time;
    a pressure accumulator communicating with a pressure line from which the pressure accumulator can receive a pressurized hydraulic fluid and to which a pressure accumulator can simultaneously supply a pressurized hydraulic fluid with the pump to move the actuator;
    a sensor member adapted to directly or indirectly measure the amount of pressurized hydraulic fluid contained in the pressure accumulator at each instant, and each sensor member adapted to transmit to the electronic control unit a measurement signal proportional to the amount of hydraulic fluid under pressure;
    actuators adapted to generate the actuation signal and to set said actuation signal proportional to the desired speed of motion of each actuator at 25 times; and wherein the electronic control unit is adapted to limit the desired travel speed of the actuator to a predetermined maximum speed proportional to the amount of pressurized hydraulic fluid contained in the pressure accumulator.
    [2]
    The system of claim 1, wherein the electronic control unit is adapted to limit said target speed when said amount of pressurized hydraulic fluid is equal to or less than a predetermined limit.
    [3]
    A system according to claim 1 or 2,
    20175884 prh 09 -10-2017 wherein the pump is adapted to provide a flow rate limited to a predetermined maximum flow rate of the pump; and wherein the electronic control unit is adapted to reduce the actuator's desired travel speed to a minimum by a predetermined maximum speed of 5 which is proportional to said maximum pump flow rate.
    [4]
    A system according to any one of claims 1 to 3, wherein said predetermined maximum speed is lower, less than
    10 is the amount of hydraulic fluid under pressure.
    [5]
    The system of any one of claims 1 to 4, wherein the actuating means is a control device which is a manually operated joystick.
    [6]
    The system of any one of claims 1 to 5, wherein said sensor member is a sensor member adapted to measure the pressure of the hydraulic fluid contained in the pressure line at each instant and is adapted to transmit a measurement signal to the electronic control unit of the system which:
    20 is proportional to the pressure of the hydraulic fluid in question.
    [7]
    A system according to any one of claims 1 to 5, wherein said sensor member is of a sensor member coupled to a pressure accumulator and adapted to measure the amount of hydraulic fluid contained in the pressure accumulator at any given time.
    25 and is adapted to transmit to the electronic control unit of the system a measurement signal proportional to the amount of hydraulic fluid in question.
    [8]
    The system of any one of claims 1 to 7, wherein the control means 30 comprise a control device communicating with the electronic control unit, adapted to generate said control signal and adapted to adjust said control signal relative to the position of the control device.
    [9]
    The system of any one of claims 1 to 8, wherein the pump is adapted to provide a flow rate limited to a predetermined maximum flow rate of the pump.
    20175884 prh 09 -10- 2017
    [10]
    The system of any one of claims 1 to 9, wherein the electronic control unit is adapted to limit the desired actuator speed to a maximum speed proportional to the pressure of the pressure accumulator.
    5 is proportional to the pressure of the hydraulic fluid in the pressure accumulator.
    [11]
    The system of claim 10, wherein the electronic control unit is adapted to limit the desired movement speed of the actuator
    10, which is proportional to the amount and pressure of the pressurized hydraulic fluid contained in the pressure accumulator, and further proportional to the force generated by the actuator at each instant.
    [12]
    A system according to any one of claims 1 to 11, wherein said actuator 15 is a linear actuator such as a hydraulic cylinder.
    [13]
    A method for controlling the system of claim 1, wherein the method limits the desired actuator speed to a maximum predetermined maximum speed which:
    20 is proportional to the amount of pressurized hydraulic fluid contained in the pressure accumulator.
    [14]
    A crane comprising a boom for lifting and moving loads, which boom is adapted to be movable according to any one of claims 1-12.
    25 system.
    [15]
    A mobile work machine comprising a crane according to claim 14.
    类似技术:
    公开号 | 公开日 | 专利标题
    KR102183024B1|2020-11-26|Method for controlling pressure in a hydraulic actuator
    US8850806B2|2014-10-07|Hydraulic control system having swing motor energy recovery
    US8776511B2|2014-07-15|Energy recovery system having accumulator and variable relief
    RU2426016C2|2011-08-10|System and procedure for control of independent metering valve; working machine
    US9068575B2|2015-06-30|Hydraulic control system having swing motor energy recovery
    KR20100127751A|2010-12-06|Hydraulic system having multiple actuators and an associated control method
    US9809958B2|2017-11-07|Engine assist by recovering swing kinetic energy
    KR102154663B1|2020-09-11|Method of increasing electro-hydrostatic actuator piston velocity
    US20140060018A1|2014-03-06|Hydraulic control system
    US9951795B2|2018-04-24|Integration of swing energy recovery and engine anti-idling systems
    KR102319371B1|2021-11-01|Method of controlling velocity of a hydraulic actuator in over-center linkage systems
    WO2013003050A2|2013-01-03|Hydraulic control system having energy recovery kit
    US20140208728A1|2014-07-31|Method and Hydraulic Control System Having Swing Motor Energy Recovery
    US9086081B2|2015-07-21|Hydraulic control system having swing motor recovery
    US20140174069A1|2014-06-26|Hydraulic control system having swing motor energy recovery
    US9388829B2|2016-07-12|Hydraulic control system having swing motor energy recovery
    FI20175884A1|2019-04-10|Hydraulic system and control system therefor
    WO2015041822A1|2015-03-26|Hydraulic control system for machine
    KR20210151890A|2021-12-14|Hydraulic system and its control method
    JP2020537093A5|2021-11-18|
    同族专利:
    公开号 | 公开日
    CA3078777A1|2019-04-18|
    CN111433464A|2020-07-17|
    BR112020007066A2|2020-10-06|
    US11073170B2|2021-07-27|
    WO2019073114A1|2019-04-18|
    FI128622B|2020-08-31|
    EP3695123A1|2020-08-19|
    KR20200066324A|2020-06-09|
    JP2020537093A|2020-12-17|
    RU2020115521A|2021-11-12|
    US20200300273A1|2020-09-24|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN101321642A|2006-03-13|2008-12-10|博世力士乐股份有限公司|Mechanico-hydraulic drive comprising a power split transmission|
    FI125918B|2008-10-10|2016-04-15|Norrhydro Oy|Pressure medium system for load control, turning device for controlling the rotational movement of the load and eccentric turning device for controlling the rotation of the load|
    CN102292528B|2009-01-22|2016-01-20|罗伯特·博世有限公司|Hydrostatic fan drives|
    US8594852B2|2010-02-22|2013-11-26|Eaton Corporation|Device and method for controlling a fluid actuator|
    US8733521B2|2010-12-06|2014-05-27|Gm Global Technology Operations|Apparatus for and method of controlling a dual clutch transmission|
    US8483916B2|2011-02-28|2013-07-09|Caterpillar Inc.|Hydraulic control system implementing pump torque limiting|
    US8984872B2|2011-07-08|2015-03-24|Caterpillar Inc.|Hydraulic accumulator fluid charge estimation system and method|
    DE102012207422A1|2012-05-04|2013-11-07|Robert Bosch Gmbh|Hydraulic control system used for working machine e.g. mini excavators, has pressure reduction device for high load pressure, which is more adjusted in dependence of controlled volumetric flow of adjuster of the hydraulic pump|
    US9279236B2|2012-06-04|2016-03-08|Caterpillar Inc.|Electro-hydraulic system for recovering and reusing potential energy|
    US9145660B2|2012-08-31|2015-09-29|Caterpillar Inc.|Hydraulic control system having over-pressure protection|
    CN105074093B|2013-01-30|2017-05-10|派克汉尼芬公司|Hydraulic hybrid swing drive system for excavators|
    DE102013216395B4|2013-08-19|2019-01-17|Danfoss Power Solutions a.s.|CONTROL DEVICE FOR HYDRAULIC ADJUSTING PUMPS AND ADJUSTING PUMP WITH A CONTROL DEVICE|
    DE102013114040A1|2013-12-13|2015-06-18|Linde Hydraulics Gmbh & Co. Kg|Hydrostatic drive with energy storage|
    WO2016040484A1|2014-09-10|2016-03-17|Caterpillar Inc.|Machine having hydraulic start assist system|
    US20170274930A1|2014-11-24|2017-09-28|Parker-Hannifin Corporation|System architectures for steering and work functions in a wheel|
    DE102015209356B3|2015-05-21|2016-08-25|Danfoss Power Solutions Gmbh & Co. Ohg|LOAD-RELATED CONTROL OF HYDRAULIC MOTORS|
    法律状态:
    2020-08-31| FG| Patent granted|Ref document number: 128622 Country of ref document: FI Kind code of ref document: B |
    优先权:
    申请号 | 申请日 | 专利标题
    FI20175884A|FI128622B|2017-10-09|2017-10-09|Hydraulic system and control system therefor|FI20175884A| FI128622B|2017-10-09|2017-10-09|Hydraulic system and control system therefor|
    RU2020115521A| RU2020115521A|2017-10-09|2018-10-05|HYDRAULIC SYSTEM AND CONTROL SYSTEM FOR IT|
    CA3078777A| CA3078777A1|2017-10-09|2018-10-05|A hydraulic system and a control system for the same|
    BR112020007066-1A| BR112020007066A2|2017-10-09|2018-10-05|system that operates hydraulically, method to control the system, crane, and, mobile machine.|
    US16/755,079| US11073170B2|2017-10-09|2018-10-05|Hydraulic system and a control system for the same|
    EP18793449.2A| EP3695123A1|2017-10-09|2018-10-05|Hydraulic system and a control system for the same|
    JP2020520202A| JP2020537093A|2017-10-09|2018-10-05|Hydraulic system and control system for this hydraulic system|
    KR1020207012220A| KR20200066324A|2017-10-09|2018-10-05|Hydraulic system and control system therefor|
    PCT/FI2018/050716| WO2019073114A1|2017-10-09|2018-10-05|Hydraulic system and a control system for the same|
    CN201880079417.8A| CN111433464A|2017-10-09|2018-10-05|Hydraulic system and control system for the same|
    [返回顶部]