AT522651A3 - Verfahren und Regelschaltung zur Regelung einer Druckmittelzufuhr für einen hydraulischen Aktor - Google Patents

Verfahren und Regelschaltung zur Regelung einer Druckmittelzufuhr für einen hydraulischen Aktor Download PDF

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Publication number
AT522651A3
AT522651A3 ATA50328/2020A AT503282020A AT522651A3 AT 522651 A3 AT522651 A3 AT 522651A3 AT 503282020 A AT503282020 A AT 503282020A AT 522651 A3 AT522651 A3 AT 522651A3
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AT
Austria
Prior art keywords
setpoint
pressure medium
controlling
hydraulic actuator
medium supply
Prior art date
Application number
ATA50328/2020A
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English (en)
Other versions
AT522651A2 (de
AT522651B1 (de
Original Assignee
Bosch Gmbh Robert
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Publication of AT522651A2 publication Critical patent/AT522651A2/de
Publication of AT522651A3 publication Critical patent/AT522651A3/de
Application granted granted Critical
Publication of AT522651B1 publication Critical patent/AT522651B1/de

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
    • F04B1/26—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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers
    • 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
    • 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G05B13/045—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance using a perturbation signal
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D16/00—Control of fluid pressure
    • G05D16/20—Control of fluid pressure characterised by the use of electric means
    • G05D16/2006—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means
    • G05D16/2066—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using controlling means acting on 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
    • 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
    • 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
    • F15B2211/20546—Type of pump variable capacity
    • 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
    • F15B2211/275—Control of the prime mover, e.g. hydraulic 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
    • 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
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6333—Electronic controllers using input signals representing a state of the pressure source, e.g. swash plate angle
    • 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
    • F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid Mechanics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Computer Hardware Design (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Abstract

Die Erfindung betrifft ein Verfahren zur Regelung einer Druckmittelzufuhr für mindestens einen hydraulischen Aktor (110) einer zyklisch arbeitenden Maschine, wobei der Aktor (110) von einer drehzahlvariablen Verstellpumpe (120), bei der ein in einem Verdrängervolumen je Arbeitsspiel verstellbares Förderwerk (122) von einem drehzahlvariablen Antrieb (121) angetrieben wird, mit einer Druckmittelmenge versorgt wird, wobei ein Ist-Volumenstrom auf einen Soll-Volumenstrom und/oder ein Ist-Förderdruck auf einen Soll-Förderdruck durch Vorgabe eines Drehzahlsollwerts (nSoll) und eines Sollwerts (αSoll) für eine das Verdrängervolumen je Arbeitsspiel bestimmende Kenngröße geregelt werden, wobei ein Sollwert (αSoll) für die das Verdrängervolumen je Arbeitsspiel bestimmende Kenngröße für wenigstens einen bestimmten Zeitpunkt während eines Zyklus der Maschine durch Variation des Sollwerts und Auswerten der elektrischen Leistung (Pi) des drehzahlvariablen Antriebs (121) für den wenigstens einen Zeitpunkt über mehrere Zyklen ermittelt wird.
ATA50328/2020A 2019-05-03 2020-04-17 Verfahren und Regelschaltung zur Regelung einer Druckmittelzufuhr für einen hydraulischen Aktor AT522651B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102019206315.2A DE102019206315A1 (de) 2019-05-03 2019-05-03 Verfahren und Regelschaltung zur Regelung einer Druckmittelzufuhr für einen hydraulischen Aktor

Publications (3)

Publication Number Publication Date
AT522651A2 AT522651A2 (de) 2020-12-15
AT522651A3 true AT522651A3 (de) 2024-06-15
AT522651B1 AT522651B1 (de) 2024-09-15

Family

ID=72839251

Family Applications (1)

Application Number Title Priority Date Filing Date
ATA50328/2020A AT522651B1 (de) 2019-05-03 2020-04-17 Verfahren und Regelschaltung zur Regelung einer Druckmittelzufuhr für einen hydraulischen Aktor

Country Status (3)

Country Link
CN (1) CN111878486B (de)
AT (1) AT522651B1 (de)
DE (1) DE102019206315A1 (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023203387A1 (de) * 2023-04-14 2024-10-17 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betreiben eines hydraulischen Antriebsystems

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0062072A1 (de) * 1980-10-09 1982-10-13 Hitachi Construction Machinery Co., Ltd. Verfahren zur steuerung eines hydraulischen kraftsystems
DE102013006137A1 (de) * 2013-04-10 2014-10-16 Robert Bosch Gmbh Regelung drehzahlvariabler Verstellpumpen mittels modellbasierter Optimierung
DE102014001981A1 (de) * 2014-02-17 2015-08-20 Robert Bosch Gmbh Dynamischer Sollwertausgleich bei drehzahlvariablen Verstellpumpen
CN106499614A (zh) * 2016-10-28 2017-03-15 合肥工业大学 变速电机与恒功率变量泵匹配的液压节能系统及控制方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3227423A1 (de) * 1981-08-03 1983-02-17 Linde Ag, 6200 Wiesbaden Hydrostatisches antriebssystem mit einem an eine drucknetzleitung angeschlossenen verbraucher hydraulischer energie
JP3115887B2 (ja) * 1990-09-28 2000-12-11 株式会社小松製作所 クローズドセンタ・ロードセンシングシステムにおけるポンプの吐出容積の可変回路
DE102009018071B4 (de) * 2009-04-20 2011-12-29 Robert Bosch Gmbh Verfahren und Regelvorrichtung zur Regelung einer Druckmittelzufuhr für einen hydraulischen Aktor
DE102010020004A1 (de) * 2010-03-05 2011-09-08 Robert Bosch Gmbh Regelungsvorrichtung und Verfahren zur Regelung eines Drehmoments einer Triebwelle einer hydrostatischen Maschine
DE102011119299A1 (de) * 2011-11-24 2013-05-29 Robert Bosch Gmbh Verfahren zum Betreiben einerdrehzahlvariablen Verstellpumpe

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0062072A1 (de) * 1980-10-09 1982-10-13 Hitachi Construction Machinery Co., Ltd. Verfahren zur steuerung eines hydraulischen kraftsystems
DE102013006137A1 (de) * 2013-04-10 2014-10-16 Robert Bosch Gmbh Regelung drehzahlvariabler Verstellpumpen mittels modellbasierter Optimierung
DE102014001981A1 (de) * 2014-02-17 2015-08-20 Robert Bosch Gmbh Dynamischer Sollwertausgleich bei drehzahlvariablen Verstellpumpen
CN106499614A (zh) * 2016-10-28 2017-03-15 合肥工业大学 变速电机与恒功率变量泵匹配的液压节能系统及控制方法

Also Published As

Publication number Publication date
CN111878486B (zh) 2024-04-16
AT522651A2 (de) 2020-12-15
CN111878486A (zh) 2020-11-03
AT522651B1 (de) 2024-09-15
DE102019206315A1 (de) 2020-11-05

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