EP2602492A2 - Dispositif de commande électro-hydraulique - Google Patents

Dispositif de commande électro-hydraulique Download PDF

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Publication number
EP2602492A2
EP2602492A2 EP12007409.1A EP12007409A EP2602492A2 EP 2602492 A2 EP2602492 A2 EP 2602492A2 EP 12007409 A EP12007409 A EP 12007409A EP 2602492 A2 EP2602492 A2 EP 2602492A2
Authority
EP
European Patent Office
Prior art keywords
pressure medium
control device
control
medium source
valve
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.)
Withdrawn
Application number
EP12007409.1A
Other languages
German (de)
English (en)
Other versions
EP2602492A3 (fr
Inventor
Albert KÖCKEMANN
Hermann Mehling
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2602492A2 publication Critical patent/EP2602492A2/fr
Publication of EP2602492A3 publication Critical patent/EP2602492A3/fr
Withdrawn legal-status Critical Current

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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
    • 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
    • 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
    • F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
    • F15B11/0426—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in" by controlling the number of pumps or parallel valves switched on
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/046—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member
    • 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
    • F15B2211/20538—Type of pump constant 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
    • F15B2211/205—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
    • F15B2211/255—Flow control functions
    • 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
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/30575—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve in a Wheatstone Bridge arrangement (also half bridges)
    • 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
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F15B2211/328—Directional control characterised by the type of actuation electrically or electronically with signal modulation, e.g. pulse width modulation [PWM]
    • 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
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • 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
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • 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
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • 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
    • 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
    • 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
    • F15B2211/6654—Flow rate control

Definitions

  • the invention relates to an electro-hydraulic control device according to the preamble of claim 1.
  • an electro-hydraulic control device which is designed as a "digital hydraulic", ie as a digital servo valve circuit.
  • a control device has a plurality of parallel and digitally switchable seat valves, by which an opening cross-section of the digital servo valve circuit is basically set in stages. It is also known to control such poppet valves pulsed, so that intermediate values between the open and the closed position can be realized over the time average.
  • the invention has for its object to provide an electro-hydraulic control device by which a speed control or position control with low device and control engineering effort is possible.
  • control of an actuator during the speed control takes place essentially via a variable-volume pressure medium source, while the positioning is carried out essentially via a digital hydraulic system.
  • an electrohydraulic control device has a valve arrangement, via which pressure medium connections of an actuator, for example a hydraulic cylinder or a hydraulic motor, can be connected to a pressure medium source or a tank.
  • This valve arrangement has a plurality of valves with switching characteristic, which are controlled pulsed via a controller.
  • the pressure medium source is designed variable in volume and the valve arrangement is designed such that at least two terminals of the actuator in each case a drain valve is associated. Via such a drain valve, a fluid connection between the relevant port and the tank is controlled.
  • the controller has a setpoint input to which a setpoint signal for a speed and / or a position of the actuator can be fed. Furthermore, the controller is associated with a position transducer for detecting a position of the actuator whose position signal is supplied to an input of the controller. This also has an output for specifying a pressure medium quantity to the pressure medium source, wherein the controller forms an actuating signal from the signal at the setpoint input and the position signal. This essentially corresponds to a speed specification of the hydraulic consumer / actuator.
  • the controller has a logic circuit which supplies at least one drain valve either a pulsed drive signal formed from the control signal or a predetermined drive signal and which supplies the pressure medium source with either a drive signal formed from the control signal or a predetermined drive signal.
  • the logic circuit is designed such that at least one drain valve, a predetermined drive signal is supplied and the pressure medium source, the drive signal formed from the control signal is supplied.
  • the logic circuit is adapted to supply the pressure medium source with a predetermined drive signal, while supplying at least one drain valve, formed from the control signal, preferably pulsed, drive signal.
  • the logic circuit is designed such that it supplies the pressure medium source with a predetermined drive signal, while supplying at least one inlet valve, a pulsed drive signal formed from the control signal.
  • each port of the actuator or the consumer is associated with an inlet valve which controls a fluid connection between this port and the pressure medium source.
  • Such a control device and such a method for driving a control device allow an adjustment of an actuator with a high dynamic and when switching to the control via the digital hydraulic exact positioning, the advantages of the above-mentioned prior art are combined and the disadvantages, ie a high noise during the speed control and a complicated position control over proportionally adjustable elements are overcome.
  • the acceleration and the speed control is carried out essentially by the control of the pressure medium source and the position control and possible braking operations of the actuator essentially by driving the valve assembly (digital hydraulic), which of course also mixed forms with control of the pressure medium source and simultaneous control of the digital hydraulic possible are.
  • valves of the valve assembly are preferably designed as switchable seat or slide valves, as for example in the WO 02/086324 A1 are described.
  • the valve assembly is arranged with a plurality of switching valves in a common valve housing.
  • the valves of the valve assembly behave ballistically, ie the valve piston opens in short pulses without reaching its upper end position and then falls back on the valve seat.
  • the valve piston reaches its upper end position and falls back after a short dwell time. This corresponds approximately to a pulse width modulation of the opening cross-section or of the averaged fluidic flow.
  • the valve may behave inversely ballistic, ie the piston then falls back only briefly in the direction of the seat during the switch-off time, but does not reach it anymore.
  • a ballistic operation is for example from the DE 102 24 689 A1 known, so that further explanations are dispensable.
  • the actuator is designed as a hydraulic cylinder with two pressure chambers, which are each connected via one of the inlet valves to the pressure medium source and one of the drain valves with a tank or a return.
  • the pressure medium source can be configured, for example, as a variable displacement pump or as a variable-speed fixed displacement pump.
  • the control of the valves of the valve assembly can be done after a pulse width modulation (PWM).
  • PWM pulse width modulation
  • the pulse width modulation can be carried out at a frequency which is 0.5 to 1.0 times the maximum switching frequency of the respective valve.
  • the pressure medium source is designed with a subordinate volume flow control loop or with a subordinate pressure control loop.
  • pressure transducers are used to detect the pressures at the actuator ports and at the pump outlet. The signals from these pressure transducers are reported to the corresponding actual value inputs of the controller.
  • the position of the actuator can be detected.
  • an electro-hydraulic control device 1 has a pressure medium source, in the present case a variable speed constant pump 2, the motor 4 is speed controlled via a speed controller 6 to regulate a pressure medium flow, so that a consumer, in the present case, a hydraulic cylinder 8 is movable at a predetermined speed , As long as this hydraulic cylinder 8 is moved at a constant speed, the pressure at the pressure connection of the pump can also be regulated via the speed regulator 6. That is, the pump 2 is pressure / flow regulated.
  • the control of the speed controller 6 via a controller, hereinafter referred to as motion controller 10, via the speed controller 6 according to the target values for the position s soll and / or velocity v soll of the hydraulic cylinder 8 or the pressure p to the pump is driven.
  • These setpoint values are calculated, for example, as a function of a speed preset, which is set, for example, via a joystick or the like.
  • a pressure medium volume flow requirement Q 5 is output by the motion controller 10 to the speed controller 6 as a setpoint and via this a corresponding speed of the motor 4 and thus a delivery volume flow of the pump 2 are adjusted.
  • the hydraulic cylinder 8 has a piston rod-side annular space 12 and a bottom-side annular space 14, which are connected via a dash-dotted line indicated valve assembly 16 to the pressure port of the pump 2 or a tank T.
  • the electro-hydraulic control device 1 is thus designed as an open circuit.
  • the valve assembly 16 may be combined in a single housing to form a structural unit.
  • Each pressure chamber 12, 14 is connected via a working line 18 or 20 with a working port A, B of the valve assembly 16, which in turn are in fluid communication with two line sections, which are referred to below as inlet 22 and outlet 24, wherein depending on the switching position of Valve assembly 16 of the "inlet 22" also as a drain and the "drain 24" can serve as an inlet accordingly.
  • inlet 22 also as a drain and the "drain 24" can serve as an inlet accordingly.
  • an inlet valve 26 is arranged, which is designed in the illustrated embodiment as a 2/2-way valve in slide construction. In principle, this switching valve can also be designed as a seat valve.
  • the inlet of the inlet valve 26 is then connected to a connected to the pressure port of the pump 2 pump line 29.
  • a branch of this pump line 28 is connected to the inlet of a further inlet valve 28, the output terminal is connected to a supply line 30, which opens into the drain 24.
  • the two valves 26, 28 are identical.
  • drain line 32 From the inlet 22 branches off downstream (in pressure build-up direction) from a drain line 32 which is connected to the input port of a further 2/2-way valve, which is referred to below as a drain valve 34. Its output terminal is connected to a tank line 36. A branch of this tank line 36 is connected to the output of another drain valve 38, whose input terminal is connected to the drain 24.
  • the two drain valves 34, 38 are designed as 2/2-way valves with switching characteristic. These switching valves can be actuated electrically or electro-hydraulically and are as shown in FIG FIG. 1 biased by a spring, not shown in the de-energized state in its locked position.
  • each pressure chamber 12, 14 is thus assigned an inlet valve 26, 28 and a drain valve 34, 38.
  • switching valves are switchable with high dynamics and designed for use with digital hydraulics. You can do this with a so-called "booster" valve amplifier for faster switching. Such valves are known from the prior art, so that further explanations are unnecessary.
  • the switching of the valves takes place via the motion controller 10, corresponding to the actual position s of a piston rod 40 of the hydraulic cylinder 8 and the desired desired position s soll a control signal Q 1 , Q 2 , Q 3 , Q 4 to the switching valves 26, 34, 28, 38 is delivered to their adjustment.
  • the control of these valves takes place after a pulse width modulation (longer switch-on pulses) or with smaller switch-on pulses such that the valve piston does not reach its upper end position (opening) (ballistic behavior).
  • the motion controller 10 is designed with a device for generating control pulses of variable duration, wherein this period of time is such that a thus actuated valve of the valve assembly from the closed position performs an opening stroke, but without reaching its complete switched open position falls back into the closed position or wherein the time duration of the control pulses is such that a thus actuated valve of the valve assembly from its fully open position performs a closing stroke, but is switched back to the open position without reaching the full closed position (inverse ballistic).
  • a third pressure sensor 44 serves to detect the pressure in the pump line 29.
  • the signal of these pressure sensors 41, 42, 44 is reported to the motion controller 10 via a corresponding signal line as actual values P, Pa and Pb.
  • the stroke s of the piston rod 40 is detected by a displacement transducer 46 and - as explained - reported as an actual position s to the motion controller 10.
  • the motion controller 10 has a logic circuit, not shown, via which, for example, from the target value for the position and / or the speed of the actuator and the position sensor detected via the position sensor 46, a control signal is formed, which then essentially the speed specification of the hydraulic cylinder 8 and whose piston rod 40 corresponds.
  • the pressure medium source is then driven in response to the control signal formed from the control signal or via a predetermined drive signal. For example, when approaching a desired position or when starting the consumer, the pressure medium source can be controlled in response to a predetermined Ansteursignal, while the respective drain or inlet valve is driven pulsed in response to a control signal formed from the control signal.
  • the pump 2 or an inlet or outlet valve is controlled to move the consumer at the predetermined speed or in the range of the predetermined position .
  • the respective other switching element pressure medium source or inlet / outlet valve is then driven according to a predetermined control signal.
  • the drain valve during the control of the pressure medium source can be completely opened, in reverse, the pressure medium source can be operated under pressure control pulsed control of the drain / inlet valve become.
  • the pressure medium source can be designed with a subordinate volume flow control loop and / or with a subordinate pressure control loop.
  • FIG. 2 above shows the desired stroke s of the piston rod 40 over time t. Accordingly, a comparatively short stroke s should be kept constant during a first time interval t 1 . Within a time interval t 1 -t 2 , the piston rod 40 should then be extended at a constant speed to a stroke s 2 and then held in this position.
  • valve assembly 16 is driven 16 with the respective active inlet valve 26 or 28 and the drain valve according lying in the effluent in each case 34 or 38 so as to adjust the position of the piston rod 40 to hold.
  • valve arrangement 16 digital hydraulic
  • the described pressure regulation of the pump 2 is active.
  • valves in the inlet and in the flow are completely controlled by the logic circuit and controlled by the motion controller 10, the flow rate of the pump 2, so that the piston rod 40 extends at the predetermined speed.
  • the pump 2 Upon reaching the desired position s 2 , the pump 2 is in turn switched to pressure control and the position / speed control of the piston rod via the digital hydraulic with the valve assembly 16 made. That is to move to the desired position s 2 and for holding the target position of the valves 26, 28, 34, 38 of the valve assembly are controlled by a pulse width modulation and / or after a ballistic behavior 16, so that the target position is maintained with great precision.
  • FIG. 1 is explained with the below-dash-dotted box a variant of the embodiment described above.
  • a variable displacement pump 2 is used instead of a variable speed pump 2, wherein the pressure / flow control via a pump regulator 48 takes place, for example, adjusts a pivot angle of a swash plate of an axial piston pump.
  • the motor 4 of this pump can be constant Speed can be operated. Even with such a variant can be based on FIG. 2 realize explained control behavior.
  • an electro-hydraulic control device and a method for controlling such an electro-hydraulic control device, wherein, for example, a speed control via a volume-adjustable pressure medium source and a position control via a digital hydraulic system.

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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)
EP12007409.1A 2011-12-10 2012-10-30 Dispositif de commande électro-hydraulique Withdrawn EP2602492A3 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102011120767A DE102011120767A1 (de) 2011-12-10 2011-12-10 Elektrohydraulische Steuereinrichtung

Publications (2)

Publication Number Publication Date
EP2602492A2 true EP2602492A2 (fr) 2013-06-12
EP2602492A3 EP2602492A3 (fr) 2014-05-21

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP12007409.1A Withdrawn EP2602492A3 (fr) 2011-12-10 2012-10-30 Dispositif de commande électro-hydraulique

Country Status (5)

Country Link
US (1) US20130145926A1 (fr)
EP (1) EP2602492A3 (fr)
JP (1) JP2013122320A (fr)
CN (1) CN103161785A (fr)
DE (1) DE102011120767A1 (fr)

Cited By (5)

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AT14641U1 (de) * 2014-04-28 2016-03-15 Valmet Technologies Inc Digitalhydraulische druckregelvorrichtung und herstellungsverfahren für eine digitalhydraulische druckregelvorrichtung
WO2016096565A1 (fr) * 2014-12-19 2016-06-23 Robert Bosch Gmbh Circuit pour commander un consommateur rotatif
EP2642132A3 (fr) * 2012-03-20 2017-07-12 Robert Bosch Gmbh Agencement de soupape pilote hydraulique et agencement de soupape hydraulique en étant équipé
CN110848181A (zh) * 2019-10-18 2020-02-28 中联重科股份有限公司 液压传动系统和起重机
EP3690258A4 (fr) * 2017-11-02 2020-12-23 Daikin Industries, Ltd. Dispositif hydraulique

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010036941B4 (de) * 2010-08-11 2012-09-13 Sauer-Danfoss Gmbh & Co. Ohg Verfahren und Vorrichtung zur Ermittlung des Zustands eines elektrisch angesteuerten Ventils
DE102014213264A1 (de) * 2013-08-19 2015-02-19 Robert Bosch Gmbh Hydraulische Anordnung zur Versorgung eines Verbrauchers
DE102013218155A1 (de) 2013-09-11 2015-03-12 Robert Bosch Gmbh Elektrohydraulische Steuereinrichtung und Verfahren zum Steuern der elektrohydraulischen Steuereinrichtung
US9915261B2 (en) * 2013-10-31 2018-03-13 Semes Co., Ltd. Substrate treating apparatus, drive assembly, and drive member controlling method
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DE102011120767A1 (de) 2013-06-13
CN103161785A (zh) 2013-06-19
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JP2013122320A (ja) 2013-06-20

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