EP0990802B1 - Dispositif de réglage de vitesse électrohydraulique pour un vérin hydraulique - Google Patents

Dispositif de réglage de vitesse électrohydraulique pour un vérin hydraulique Download PDF

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Publication number
EP0990802B1
EP0990802B1 EP99114323A EP99114323A EP0990802B1 EP 0990802 B1 EP0990802 B1 EP 0990802B1 EP 99114323 A EP99114323 A EP 99114323A EP 99114323 A EP99114323 A EP 99114323A EP 0990802 B1 EP0990802 B1 EP 0990802B1
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EP
European Patent Office
Prior art keywords
throttle valve
lifting cylinder
control device
load
current
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
EP99114323A
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German (de)
English (en)
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EP0990802A2 (fr
EP0990802A3 (fr
Inventor
Winfried Arnold
Wolfgang Steudel
Holger Lueues
Alexander Zorn
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication of EP0990802A3 publication Critical patent/EP0990802A3/fr
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Classifications

    • 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
    • F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
    • 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
    • F15B11/05—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed specially adapted to maintain constant speed, e.g. pressure-compensated, load-responsive
    • F15B11/055—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed specially adapted to maintain constant speed, e.g. pressure-compensated, load-responsive by adjusting the pump output or bypass
    • 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
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30505—Non-return valves, i.e. check valves
    • 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
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
    • 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
    • F15B2211/40—Flow control
    • F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
    • F15B2211/41581—Flow control characterised by the connections of the flow control means in the circuit being connected to an output member and a return line
    • 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
    • F15B2211/40—Flow control
    • F15B2211/42—Flow control characterised by the type of actuation
    • F15B2211/426—Flow control characterised by the type of actuation electrically or electronically
    • 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
    • F15B2211/40—Flow control
    • F15B2211/46—Control of flow in the return line, i.e. meter-out 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
    • F15B2211/40—Flow control
    • F15B2211/47—Flow control in one direction only
    • F15B2211/473—Flow control in one direction only without restriction in the reverse direction
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
    • F15B2211/5151—Pressure control characterised by the connections of the pressure control means in the circuit being connected to a pressure source and a directional control valve
    • 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
    • F15B2211/50—Pressure control
    • F15B2211/55—Pressure control for limiting a pressure up to a maximum pressure, e.g. by using a pressure relief valve
    • 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
    • F15B2211/615—Filtering means
    • 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
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • 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
    • F15B2211/7052—Single-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
    • F15B2211/75—Control of speed of the output member

Definitions

  • the invention is based on an electro-hydraulic Device for speed control of a hydraulic lifting cylinder according to the in the preamble of Claim 1 specified genus.
  • DE 196 31 804 A1 describes an electrohydraulic one Device for speed control of a hydraulic lifting cylinder known in the one reversible constant pump via a check valve Lift cylinder acted, part of the promotion of the Constant pump at least temporarily via an adjustable throttle is returned to the tank in a bypass line.
  • the constant pump from one Asynchronous motor is driven, the speed of which over a Frequency converter is changeable, whereby Power supply a three-phase network is required.
  • a electronic control controls the variable throttle initially completely on and with increasing speed of the Constant flow pump is controlled its flow cross section; this has the disadvantage that in the area of control with Partial conveyance to the tank, no load pressure-compensated control is possible.
  • the facility builds relatively complex and expensive and doesn't work as a control loop.
  • the electrohydraulic device according to the invention for Speed control of a hydraulic lifting cylinder with the characterizing features of claim 1 on the other hand the advantage that it compensates for a load pressure Speed control of a lifting cylinder enables where a proportional throttle valve in seat valve type in Works with an electric pump and one Setpoint adjuster the speed of the lifting cylinder is specifiable, the device with a relatively small Builds effort and works in an energy-saving manner. It can be the load pressure compensated proportional Speed control for both lifting and Lower with just a single proportional throttle valve to reach. Furthermore, the controller and the Measurement of the current consumption of the electric pump according to the Desired speed of the lifting cylinder Achieve energy savings.
  • a particularly optimal load compensation can be achieve according to claim 11, if before one Lowering process with a short measuring stroke in the direction of lifting exact load signal is determined. It is particularly useful it when doing so according to claim 12 during the measuring stroke in addition the proportional throttle valve is controlled to to keep the size of the measuring stroke as small as possible. Further advantageous configurations result from the rest Claims, the description and the drawing.
  • FIG. 1 shows an electrohydraulic device 10 for speed control of a hydraulic Lift cylinder 11, which here as a single-acting Working cylinder is designed as in hoists for Lifting and lowering loads, especially in forklifts, is used.
  • the device 10 has a hydraulic Constant pump 12, the pressure medium from a tank 13 sucks and the pressure side with a working line 14 with the lifting cylinder 11 is connected.
  • a load securing the lifting cylinder 11 Check valve 15 switched.
  • the print page via a pressure relief valve 16 hydraulically secured.
  • the Proportional throttle valve 18 is for securely shutting off the Lift cylinder 11 executed in the seat valve type and secures in a spring-centered starting position 19 the load on Lift cylinder 11 from.
  • the constant pump 12 is mechanically driven by an electric motor 21 driven, here as a simple DC motor is executed.
  • the electric motor 21 is one controlled electrical control device 22, wherein in the electrical connection to its two terminals 23 and 24 a current sensor 25 is connected.
  • This current sensor 25 is designed in the simplest way as a measuring resistor, whereby the measured variable determined by him, namely that for Electric motor 21 flowing electricity to the electric Control device 22 is reported back.
  • the electrical Control device 22 also stands with a setpoint adjuster 26 in connection with which a setpoint for the Speed of the lifting cylinder 11 when lifting and Lowering can be specified.
  • the control signals in the form of electric currents for the proportional throttle valve 18 generated and corrected, which is why the control device 22nd via an electrical control line 27 with the magnetic drive 28 of the proportional throttle valve 18 is connected.
  • the electrical control device 22 are the functions the energy supply, a controller, a computer and an electronic memory integrated, the Control device in a manner known per se in Microprocessor technology can be executed.
  • connection therefore applies that the size of the electric current for driving the Electric motor 21 is proportional to the hydraulic Load pressure in the lifting cylinder 11.
  • current to the electric motor 21 is supplied by the current sensor 25 measured in the simplest way as a measuring resistor can be executed.
  • the actual value of the measured current is from the current sensor 25 to the electrical control device 22 returned so that this is a load-dependent variable receives.
  • the connection applies that the lifting speed of the load 29 results from one Product from a constant of the lifting cylinder 11 with the Volume flow lifting, this lifting speed of the load 29 also a function of the motor current in the current sensor 25 represents. It can therefore be used in electrical Control device 22 that measured by the current sensor 25 Current value with the lifting signal of the setpoint adjuster 26 be compared and according to the difference between them Signals from the control device 22 that Proportional throttle valve 18 opened with a time delay with a part of the constant pump 12 volume flow flows back into the tank.
  • the hydraulic connection of the device 10 results the size of the flowing into the lifting cylinder 11 Volume flow lifting as the difference from the volume flow of the Constant pump 12 minus the volume flow that over the Proportional throttle valve 18 flows out to the tank 13. Since the Volume flow of the constant pump 12 due to the constant Speed of the electric motor 21 is constant and the Volume flow via the throttle valve 18 is controllable also the size of the volume flow to the lifting cylinder 11 controllable. The size of the volume flow over the Throttle valve 18 is used by the electronic Control device 22 influenced so that the Setpoint adjuster 26 predetermined lifting setpoint proportional is to the speed of the load 29 in the lifting cylinder 11.
  • connection applies that the lifting speed in Lift cylinder 11 proportional - but in the opposite sense - Is to the volume flow through the throttle valve 18 and also is proportional to the set Speed setpoint at setpoint adjuster 26. From the electrical control device 22 is ensured that the delivered volume flow of the constant pump 12 always is greater than that via the throttle valve 18 to the tank discharged volume flow.
  • the in the electric DC motor 21st electrical energy plugged in is essentially the same is the hydraulic generated by the constant pump 12 Energy.
  • the at the terminals 23, 24 of the electric motor 21 supply voltage is in the electrical Control device 22 before.
  • the flowing to the electric motor 21 Current is measured by the current sensor 25 and this measured variable of the electrical control device 22 posed. From the available values for current and voltage on the electric motor 21, the electrical control device 22 determine the electrical power of the electric motor 21. This electrical power is converted into a hydraulic one Power implemented resulting from that of the constant pump delivered volume flow and the respective load pressure in Lifts 11 can be determined.
  • the Current sensor 25 with its measured variable lifting current a signal for the electrical control device 22 is available, which at This device 10 is proportional to hydraulic load pressure in the lifting cylinder 11. Furthermore, in the electrical control device 22 pressure-dependent Characteristic curves of the proportional throttle valve 18 stored. With them, the electrical control device 22 can Control signals for the proportional throttle valve 18 so correct that overall an electronic Load compensation is possible.
  • the electrohydraulic device 10 thus arises Control loop with a predetermined by the setpoint adjuster 26 Speed setpoint with which the current sensor 25 The measured quantity of the lifting current and the electrical one Voltage at the electric motor 21 as actual values for the Engine power and torque as well as with the Proportional throttle valve 18 as an actuator for the Lifting speed. With the setpoint adjuster 26 can thus in a load-compensated and proportional manner Lifting speed of the load 29 controlled on the lifting cylinder 11 become.
  • the current sensor 25 Since in the electro-hydraulic device 10 of Electric motor 21 only works in the lifting operating state, while lowering with the electric motor 21 stopped the weight of the load 29 over that Proportional throttle valve 18 takes place, the current sensor 25 also no instantaneous measured variable for the current and thus the Load pressure available. In some cases it can now occur that the electronic load compensation at Lowering with the stored current value is not sufficient Accuracy results because the load 29 when lowering greatly from Load differs in the previous lifting, such as this for Example when setting down, picking up or changing pallets the case is.
  • Valve member of the proportional throttle valve 18 a to have a defined, small path open. This will make a Part of the flow rate during the measuring stroke in the tank and thus the measuring stroke itself is reduced. Also the current consumption is smaller, but is again related to the Last 29 and the known slide path in Proportional throttle valve 18 and thus delivers usable signal for a more accurate, laser pressure compensated Control sinks. Leave with the procedures outlined thus more accurate due to the additional measuring stroke generate load-dependent current signals and thus the quality improve load pressure compensation when lowering.
  • Figure 2 shows a second electrohydraulic Device 40 for speed control of a hydraulic lifting cylinder 11, which differs from the device 10 mainly differs according to Figure 1 in that the Structure of the electrical / electronic control device 22 is shown in more detail. Otherwise, the same components provided with the same reference numerals as in FIG.
  • the second device 40 has a current sensor simple measuring resistor 25 on the in the power supply is connected to the electric motor 21.
  • the electrical energy is connected to a supply connection 41 with a Battery voltage supplied.
  • a relay 42 is connected to the power supply.
  • the size of the electrical current across the measuring resistor 25 tapped and fed to a current-voltage converter 43, whose output signal is smoothed by a filter 44 and the output variable at a first input 45 of a first Computer 46 is present.
  • the first computer 46 is started a second input 47 that is applied to the electric motor 21 Motor voltage supplied.
  • At a third input 48 of the first computer 46 is the battery voltage from Supply connection 41 on.
  • the first computer 46 takes place now a performance calculation with the entered values Current and voltage instead, with the characteristics of Electric motor 21 is corrected. In particular, too takes into account its start-up and run-down behavior, so that at the output 51 of the first computer 46 a substantially linearized actual value of the output is output.
  • This Power signal at output 51 is now at a summation point 52 with a setpoint signal from setpoint adjuster 46 compared and the resulting difference signal one entered second computer 53 for the lifting function Adjustment calculates a correction value, and with this one first computing element 54 in the electrical lifting path of the Control device 22 controls.
  • the first computing element 54 contains the Proportional throttle valve 18 assigned characteristic curves 57 for different pressures are saved, with the help of which Control signal for the proportional throttle valve 18 so is corrected that overall an electronic Load compensation when lifting the load 29 is controllable.
  • the release of the Lift function controls and its output signal the relay 42 controls to turn on the electric motor 21.
  • the relay 42 controls to turn on the electric motor 21.
  • the relay 42 Conditional delay in hydraulic pressure build-up corrected and the proportional throttle valve 18 is triggered with a delay, so that no accidental pressure drop can occur.
  • the setpoint adjuster 26 is used for the lowering function opposite direction and this Setpoint signal in the same way as in the lifting path a second arithmetic element 61, in which a Calculation and correction of the sink current to control the Proportional throttle valve 18 takes place.
  • the third computer becomes 64 from a sample and hold 65 with a memory signal driven, the sample and hold 65 from the first Threshold switch 58 can be activated. That way realized a common sample and hold circuit, so that the last one available when the lifting function was switched off Load value saved and for subsequent Sink correction can be used.
  • overload protection can be used in the second Realize device 40 so that an additional hydraulic pressure relief valve to protect the Constant pump can be dispensed with.
  • the mode of operation of the second device 40 is the same largely that of the first facility 10.
  • the second device 40 will now turn on and off Electric motor 21 controlled by a relay 42, because the Motor currents can assume considerable sizes.
  • the by Switching the relay 42 caused delayed hydraulic Pressure build-up takes into account that one on the Lifting path 54, 55 acting delay element 59 for a corresponding delay in the activation of the Proportional throttle valve 18 ensures that no pressure drop can arise in the lifting cylinder 11.
  • an overload switch 66 on simple Way to build an overload protection.
  • the speed of the load 29 being proportional is the size of the setpoint signals at setpoint adjuster 26.
  • the means for the methods with an additional measuring stroke are not in the case of the electrical control device 22 in FIG. 2 specified; but you can always in the second device 40 can be added.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)

Claims (14)

  1. Dispositif de réglage de vitesse électrohydraulique pour un vérin hydraulique (11) qui, au levage, peut se voir appliquer du fluide hydraulique par une pompe à cylindrée constante (12) au travers d'une conduite d'alimentation (14) avec une soupape anti-retour (15) protégeant le vérin (11) et qui, au moins à l'abaissement, peut être déchargé vers le réservoir (13) par une soupape d'étranglement proportionnelle (18) de type soupape à siège, la soupape d'étranglement proportionnelle (18) et un moteur électrique (21) entraínant la pompe à cylindrée constante (12) pouvant être commandés par un dispositif électrique de commande (22) en liaison avec un réglage de valeur de consigne pour la prescription de la valeur de consigne de vitesse, avec des moyens prévus pour un levage et un abaissement du vérin (11) indépendants de la pression de charge,
    caractérisé en ce que
    le dispositif (10, 40) présente une unique soupape d'étranglement proportionnelle (18) qui est raccordée dans une tuyauterie de bypass (17) conduite du vérin (11) au réservoir (13) et les moyens présentent un capteur de courant (25) mesurant le courant électrique vers le moteur électrique (21) dont les signaux dépendant de la pression de charge dans le vérin (11) sont traités par le dispositif électrique de commande (22) pour la commande de la soupape d'étranglement proportionnelle (18) de façon à permettre une commande compensée en pression de charge du vérin (11)
  2. Dispositif électrohydraulique selon la revendication 1,
    caractérisé en ce que
    le capteur de courant est une simple résistance de mesure (25) qui est raccordée dans la conduite électrique vers le moteur électrique (21).
  3. Dispositif électrohydraulique selon la revendication 1 ou 2,
    caractérisé en ce qu'
    un moteur à courant continu (21) est employé en tant que moteur électrique.
  4. Dispositif électrohydraulique selon l'une quelconque des revendications 1 à 3,
    caractérisé en ce qu'
    un relais (42) pouvant être commandé par le dispositif électrique de commande (22) peut mettre sous et hors tension l'alimentation électrique du moteur électrique (21).
  5. Dispositif électrohydraulique selon la revendication 4,
    caractérisé en ce que
    le dispositif électrique de commande (22) détermine la charge du moteur électrique (21) à partir de sa tension de fonctionnement et des signaux du capteur de courant (25) et, lors de sa surcharge, actionne le relais (42) au moyen d'un interrupteur de surcharge (66).
  6. Dispositif électrohydraulique selon la revendication 4 ou 5,
    caractérisé en ce que
    le dispositif électrique de commande (22) présente un circuit à retard (59) agissant sur le chemin de levage (54, 55) qui retarde la commande de la soupape d'étranglement proportionnelle (18) jusqu'à ce que l'établissement retardé de la pression hydraulique, lié à la commutation du relais (42), soit compensé.
  7. Dispositif électrohydraulique selon l'une quelconque des revendications 1 à 6,
    caractérisé en ce que
    la tuyauterie de bypass (17) se ramifie de la conduite d'alimentation (14) en amont de la soupape anti-retour (15) protégeant le vérin (11).
  8. Dispositif électrohydraulique selon une ou plusieurs des revendications 1 à 7,
    caractérisé en ce que
    le dispositif électrique de commande (22) détermine à partir des signaux mesurés de courant et de tension au moteur électrique (21) une valeur réelle de puissance ou de vitesse de levage de la charge (29), qui est comparée avec une valeur correspondante de consigne du réglage de valeur de consigne (26), et le signal de différence qui en résulte est utilisé pour la correction du courant de levage pour la commande de la soupape proportionnelle (18).
  9. Dispositif électrohydraulique selon la revendication 8,
    caractérisé en ce que
    le dispositif électrique de commande (22) présente des organes de calcul (54, 61) séparés chaque fois pour la détermination du courant de levage et du courant d'abaissement, dans lesquels en particulier les courbes caractéristiques de pression (57) affectées à la soupape d'étranglement proportionnelle (18) sont enregistrées.
  10. Dispositif électrohydraulique selon l'une quelconque des revendications 1 à 9,
    caractérisé en ce que
    le dispositif électrique de commande (22) présente un organe d'arrêt d'échantillonnage (65, 64) qui mémorise un signal dépendant de la charge du processus de levage et le met à disposition pour la correction du courant d'abaissement pour commander la soupape d'étranglement proportionnelle (18).
  11. Procédé de réglage de vitesse pour un vérin hydraulique comportant un dispositif électrohydraulique selon l'une quelconque des revendications 1 à 10,
    caractérisé en ce que
    la pompe à cylindrée constante (12) est entraínée à vitesse de rotation constante par le moteur électrique (21) et au levage du vérin (11) une partie du débit-volume transporté par la pompe à cylindrée constante peut être évacuée de la soupape d'étranglement proportionnelle (18) vers le réservoir (13), alors que la pompe à cylindrée constante (12) est débranchée à l'abaissement, et l'écoulement de fluide hydraulique coulant du vérin (11) vers le réservoir (13) peut être commandé par la soupape d'étranglement proportionnelle (18), le dispositif électrique de commande (22) commandant dans les deux cas la soupape d'étranglement proportionnelle (18) pour réaliser une compensation de pression de charge.
  12. Procédé selon la revendication 11,
    caractérisé en ce qu'
    avant le début d'un processus d'abaissement du vérin (11), un court levage de mesure est réalisé en direction du levage et ainsi un signal indépendant de la charge, déterminé par le capteur de courant (25) est utilisé pour la correction du signal de commande à la soupape d'étranglement proportionnelle (18) lors du processus d'abaissement.
  13. Procédé selon la revendication 12,
    caractérisé en ce que
    pour réduire la grandeur du levage de mesure, la soupape d'étranglement proportionnelle (18) est actionnée simultanément en direction de l'ouverture pendant le levage de mesure.
  14. Procédé selon la revendication 13,
    caractérisé en ce que
    la soupape d'étranglement proportionnelle (18), pendant le levage de mesure, est actionnée simultanément avec la mise sous tension du moteur électrique (21), et son organe de commande exécute une faible course d'ouverture déterminée.
EP99114323A 1998-09-30 1999-07-21 Dispositif de réglage de vitesse électrohydraulique pour un vérin hydraulique Expired - Lifetime EP0990802B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19844795A DE19844795A1 (de) 1998-09-30 1998-09-30 Elektrohydraulische Einrichtung zur Geschwindigkeitssteuerung eines hydraulischen Hubzylinders
DE19844795 1998-09-30

Publications (3)

Publication Number Publication Date
EP0990802A2 EP0990802A2 (fr) 2000-04-05
EP0990802A3 EP0990802A3 (fr) 2001-07-25
EP0990802B1 true EP0990802B1 (fr) 2004-10-13

Family

ID=7882758

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Application Number Title Priority Date Filing Date
EP99114323A Expired - Lifetime EP0990802B1 (fr) 1998-09-30 1999-07-21 Dispositif de réglage de vitesse électrohydraulique pour un vérin hydraulique

Country Status (2)

Country Link
EP (1) EP0990802B1 (fr)
DE (2) DE19844795A1 (fr)

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DE102022116888B3 (de) 2022-07-06 2023-12-14 Ringspann Gmbh Elektrohydraulische Bremslüftvorrichtung und Bremsvorrichtung

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DE102004057878B4 (de) * 2003-12-08 2014-01-23 Continental Teves Ag & Co. Ohg Verfahren zur Kalibrierung von analog angesteuerten hydraulischen Ventilen
DE102010005146A1 (de) * 2010-01-19 2011-07-21 KONECRANES Lifting Systems GmbH, 40789 Fahrbare Transport-und Handhabungseinrichtung mit Luftkissenanordnung und Steuerung
US8844280B2 (en) 2011-02-28 2014-09-30 Caterpillar Inc. Hydraulic control system having cylinder flow correction
DE102016122379B4 (de) * 2016-11-21 2022-12-15 Magna Pt B.V. & Co. Kg Hydraulikventil-Umschaltpunkterfassungsverfahren sowie Steuergerät für einen Kraftfahrzeugantriebstrang
DE102016123541A1 (de) 2016-12-06 2018-06-07 Jungheinrich Aktiengesellschaft Verfahren zur automatischen Ausrichtung eines Flurförderzeugs in einem Warenlager sowie System aus einem Flurförderzeug und einem Warenlager
DE102016124505A1 (de) * 2016-12-15 2018-06-21 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Steuereinheit zur Regelung der Bewegung einer Kolbenstange eines Hydraulikzylinders sowie ein solches Verfahren
DE102017210823A1 (de) * 2017-06-27 2018-12-27 Robert Bosch Gmbh Ventilblockanordnung und Verfahren für eine Ventilblockanordnung
CN110131251A (zh) * 2019-01-09 2019-08-16 哈尔滨工业大学 电液复合伺服加载方法及装置
US20220259829A1 (en) * 2019-07-08 2022-08-18 Danfoss Power Solutions Ii Technology A/S Hydraulic system architectures and bidirectional proportional valves usable in the system architectures
CN113757197B (zh) * 2021-07-22 2023-02-14 浙江大学 一种泵站的恒压控制方法
CN113757196B (zh) * 2021-07-22 2023-06-23 浙江大学 一种长距离供液恒压控制方法

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Publication number Priority date Publication date Assignee Title
DE102022116888B3 (de) 2022-07-06 2023-12-14 Ringspann Gmbh Elektrohydraulische Bremslüftvorrichtung und Bremsvorrichtung

Also Published As

Publication number Publication date
DE59910818D1 (de) 2004-11-18
DE19844795A1 (de) 2000-04-13
EP0990802A2 (fr) 2000-04-05
EP0990802A3 (fr) 2001-07-25

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