WO2018024790A1 - Dispositif et procédé de commande de pompe - Google Patents

Dispositif et procédé de commande de pompe Download PDF

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Publication number
WO2018024790A1
WO2018024790A1 PCT/EP2017/069571 EP2017069571W WO2018024790A1 WO 2018024790 A1 WO2018024790 A1 WO 2018024790A1 EP 2017069571 W EP2017069571 W EP 2017069571W WO 2018024790 A1 WO2018024790 A1 WO 2018024790A1
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WO
WIPO (PCT)
Prior art keywords
pump
flow
demanded
value
flow rate
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.)
Ceased
Application number
PCT/EP2017/069571
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English (en)
Inventor
Yoshihiko Hata
Kouji Kishida
Nobuaki Matoba
Hiroshi Asano
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Caterpillar SARL
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Caterpillar SARL
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Publication date
Application filed by Caterpillar SARL filed Critical Caterpillar SARL
Publication of WO2018024790A1 publication Critical patent/WO2018024790A1/fr
Anticipated expiration legal-status Critical
Ceased 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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
    • 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
    • F04B49/08—Regulating by delivery 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/082—Servomotor systems incorporating electrically operated control means with different modes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • 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
    • F15B2211/20553—Type of pump variable capacity with pilot circuit, e.g. for controlling a swash plate
    • 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
    • F15B2211/20576—Systems with pumps with multiple pumps
    • 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
    • F15B2211/6346—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
    • F15B2211/60—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
    • F15B2211/6655—Power control, e.g. combined pressure and flow rate 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
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6658—Control using different modes, e.g. four-quadrant-operation, working mode and transportation mode
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/88—Control measures for saving energy

Definitions

  • the present invention relates to a pump control device and a pump control method for controlling a flow of a working fluid discharged from a pump with respect to a plurality of flow pressure actuators .
  • a working machine such as a hydraulic excavator, which is equipped with an engine and a variable capacity pump such as a swashplate type that is driven by said engine and discharges hydraulic fluid and multiple hydraulic actuators such as cylinders and motors that operate by receiving supply of hydraulic fluid discharged from said pump, and also equipped with a hydraulic system that performs positive control in which only the necessary flow corresponding to the lever operation amount for operating these hydraulic actuators is discharged from the pump, is widely known.
  • the present invention has been made in view of the above circumstances, and the objective of the present invention is to provide a pump control device and a pump control method that can easily change the setting of a pump flow.
  • the invention described in claim 1 is a pump control device for controlling a flow of a working fluid discharged from a pump with respect to a plurality of flow pressure actuators operated in accordance with respective operations of a plurality of operators, comprising a controller which is to obtain a demanded flow from each flow pressure actuator according to a signal generated by operation of each operator, and while obtaining the sum total value and the maximum value of these demanded flows, with respect to the maximum value, it is to set the pump flow command value based on a value obtained by adding a value obtained by multiplying a predetermined gain of the difference between the sum total value and the maximum value.
  • the invention described in the Claim 2 is a pump control device comprising a switching means for setting by switching the gain in the pump control device described in the Claim 1.
  • the invention described in the Claim 3 is a pump control method for controlling the flow of working fluid discharged from a pump with respect to a plurality of flow pressure actuators, obtaining the sum total value and the maximum value of these demanded flows, with respect to the maximum value, setting the pump flow command value based on a value obtained by adding a value obtained by multiplying a predetermined gain of the difference between the sum total value and the maximum value.
  • the invention described in the Claim 4 is to switch the gain in accordance with setting in the pump control method described in the Claim 3.
  • the controller obtains the sum total value and the maximum value of the demanded flows from the respective flow pressure actuators, with respect to the maximum value, to set the pump flow command value based on a value obtained by adding a value obtained by multiplying a predetermined gain of the difference between the sum total value and the maximum value, and by changing the value of the gain, setting of the pump flow is to become easily changeable.
  • setting of the pump flow is to become easily changeable depending on the work mode.
  • FIG. 1 is a block diagram of a controller showing one embodiment of a pump control device and a pump control method according to the present invention.
  • FIG. 2 is a block diagram showing an actuator demanded flow calculation unit of the same controller.
  • FIG. 3 is a block diagram showing a pump demanded flow calculation unit of the same controller.
  • FIG. 4 is a block diagram showing a pump flow command calculation unit of the same controller.
  • FIG. 5 is ablock diagram showing the same pump control device .
  • FIG. 6 is a circuit diagram showing a fluid pressure system equipped with the same pump control device.
  • FIG. 7 is a schematic diagram showing a hydraulic excavator as a representative example of a work machine equipped with the same hydraulic pressure system.
  • FIG. 8 is a graph showing an example of a demanded flow during a compound operation of a fluid pressure actuator.
  • FIG. 9 (a) is a graph showing the calculation result by the pump control device when the gain based on the demanded flow in FIG. 8 is 0, (b) is a graph showing the calculation result when the gain based on the demanded flow in FIG. 8 is 0.3, (c) is a graph showing the calculation result by the pump control device when the gain based on the demanded flow of FIG. 8 is 0.5, (d) is a graph showing the calculation result of the pump control device when the gain based on the demanded flow of FIG. 8 is 1.
  • the hydraulic excavator 10 serving as a working machine comprises a crawler-type lower driving body 12 driven and run by left and right driving motors 12ml and 12mr as well as an upper rotating body 14 which is rotationally driven by the rotating motor 14m via the rotating bearing section 13 to the lower driving body 12 as a body 11, and on the front side of this upper rotating body 14 , a boom 15 that is rotated by the boom cylinder 15c, an arm 16 that is rotated by the arm cylinder 16c, and a work device 18 equipped with a bucket 17 that is rotated by the bucket cylinder 17c are installed. Additionally, in this working device 18, an attachment operated by an attachment cylinder which is not shown (or an attachment motor) may be detachably provided.
  • the driving motors 12ml and 12mr, the rotating motor 14m, the boom cylinder 15c, the arm cylinder 16c, the bucket cylinder 17c and the attachment cylinder are a hydraulic actuator as a flow pressure actuator driven by hydraulic fluid as working fluid discharged from a pump (main pump) 22 driven by an engine 21 mounted on an upper rotating structure 14 (FIG. 7).
  • the pump 22 is, for example, a variable displacement pump respectively equipped with a pump swash plate for variable capacity control.
  • a (one) pump 22a and (another) pump 22b are set for this pump 22.
  • the pump 22 is equipped with a swash plate control device 23 ( (one) swash plate control device 23a and (another) swash plate control device 23b) , a proportional solenoid valve 24 ( (one) proportional solenoid valve 24a and
  • the swash plate angle for variable capacity of the pump 22 is controlled by displacement of the swash plate angle adjusting piston of the swash plate control device 23, and these piston displacements are variably controlled by the proportional solenoid valve 24.
  • the pump 22 is connected to a control valve 25, and pressure oil from the pump 22 is distributed to the respective hydraulic actuators via the control valve 25, and by the pressure oil distributed from the control valve 25, the driving motor 12ml andl2mr, the rotating motor 14m, the boom cylinder 15c, the arm cylinder 16c and the bucket cylinder 17c are to be driven respectively.
  • the pump 22a fundamentally discharges pressure oil for driving the left driving motor 12ml, the boom cylinder 15c, the arm cylinder 16c, the bucket cylinder 17c, and the attachment cylinder (or the attachment motor)
  • the pump 22b fundamentally discharges pressure oil for driving the right driving motor 12mr, the rotating motor 14m, the boom cylinder 15c and the arm cylinder 16c, however, these can be merged if necessary by using an appropriate merging valve or the like.
  • the control valve 25 is equipped with a plurality of flow control valves (spools) , which are able to freely slide, provided therein for controlling various hydraulic actuators .
  • the control valve 25 is equipped with a left driving flow control valve, a right driving flow control valve, a rotating flow control valve, a plurality of boom flow control valves, a plurality of arm flow control valves, and a bucket flow control valve and the like for controlling the flow of pressure oil to be supplied to the driving motors 12ml andl2mr, the swing motor 14m, the boom cylinder 15c, the arm cylinder 16c and the bucket cylinder 17c.
  • this control valve 25 may be provided with an attachment flow control valve for controlling the flow of pressure oil to be supplied to the attachment cylinder (or the attachment motor) .
  • the control valve 25 is provided with a proportional solenoid valve unit 29 comprising a proportional solenoid valve 29a (FIG. 5) for controlling each flow control valve.
  • Each proportional solenoid valve 29a (FIG. 5) of the proportional solenoid valve unit 29 outputs , by depressurizing, the pilot primary pressure oil supplied from the pilot pump 30, which is a sub pump driven by the engine 21, to the pilot secondary pressure corresponding to the lever operation or the pedal operation by the operator.
  • control valve 25 is pilot controlled by lever operation or pedal operation indirectly via the proportional solenoid valve unit 29 in accordance with the operation amount. Furthermore, it is configured so that these flow control valves can be displacement controlled respectively by the pilot secondary pressure oil outputted by the proportional solenoid valve 29a (FIG. 5) being supplied to each flow control valve.
  • the proportional solenoid valve 24 and the proportional solenoid valve unit 29 are controlled by a controller (MECM) 34 shown in FIG. 5. That is to say, a pump control device 35 that controls the pump flow rate is comprised with these proportional solenoid valve 24, the proportional solenoid valve unit 29 (each proportional solenoid valve 29a), and the controller 34.
  • a plurality of operators 36 such as the above-mentioned lever (joystick) and pedal operated by an operator to drive the hydraulic actuator, a pressure sensor 37
  • the hydraulic system according to the present embodiment is of the positive control in which the pump flow is controlled on the basis of the operation amount of the operator 36.
  • the controller 34 is equipped with an actuator demanded flow rate calculating unit 41, a pump demanded flow rate calculating unit 42 and a pump flow command calculating unit 43, and these calculating units 41 to 43 are, for example, sequentially connected.
  • These calculation units 41 to 43 are provided for the pump 22a (FIG. 6) and the pump 22b (FIG. 6) respectively .
  • the actuator demanded flow rate calculation unit 41 is to calculate and output the demanded flow of each hydraulic actuator on the basis of the operating signal Si inputted according to the operation of the operator 36.
  • the operator 36 for inputting the operating signal Si is electrically connected to the input side of the actuator demanded flow rate calculation unit 41.
  • this actuator demanded flow rate calculating unit 41 is equipped with a flow rate setting unit 45 which calculates the demanded flow rate from each hydraulic actuator corresponding to each of the operators 36 and outputs a demanded flow signal Qi indicating said demanded flow. That is to say, this actuator demanded flow rate calculation unit 41 outputs the demanded flow signal Qi via the flow rate setting unit 45.
  • the flow rate setting unit 45 is equipped with a pair of flow rate setting tables 47 and 48 for setting a flow rate on the basis of the operating signal Si.
  • this flow rate setting unit 45 is provided with a pair of rate limiters 49 and 50 for limiting the startup speed of the demanded flow rate outputted from the flow rate setting tables 47 and 48.
  • the flow rate setting unit 45 is provided with a maximum value selector 51 for selecting a large value of the flow rate outputted from the rate limiters 49 and 50.
  • the flow rate setting tables 47 and 48 are tables that indicate the ratio of the pump flow to the operation amount of the operator 36.
  • One flow rate setting table 47 and the other flow rate setting table 48 correspond to the contradictory actions (expansion and contraction of the cylinder, normal rotation and reverse rotation of the motor, etc.) of the hydraulic actuator
  • the pump demanded flow rate calculation unit 42 is to calculate and to output a pump demanded flow (pump demanded flow signal) on the basis of the demanded flow of each actuator outputted from the actuator demanded flow rate calculation unit 41.
  • the actuator demanded flow rate calculation unit 41 for inputting the demanded flow signal Qi corresponding to the demanded flow and the work mode changeover switch 38 for inputting the switching signal SS are electrically connected.
  • this pump demanded flow calculating unit 42 is equipped with an adder 54 which outputs the sum obtained by adding each demanded flow rate (demanded flow signal Qi) .
  • a maximum value selector 55 for selecting and outputting the maximum value of the demanded flow rate (demanded flow signal Qi) is provided to the pump demanded flow rate calculation unit 42.
  • a subtractor 56 that outputs the difference between the output of the adder 54 and the output of the maximum value selector 55 is provided to the pump demanded flow rate calculating unit 42.
  • a gain switching device 57 for outputting the gain K switched in accordance with the switching signal SS is provided. As this gain K, a predetermined value of 0 to 1 is set.
  • this pump demanded flow calculating unit 42 is provided with a multiplier 58 for multiplying and outputting the output of the subtracter 56 and the output of the gain switching device 57.
  • the pump demanded flow rate calculating unit 42 is provided with an adder 59 to output as the pump demanded flow signal Qpr indicating the pump demanded flow rate by adding the output of the multiplier 58 and the output from the maximum value selector 55. hat is to say, this pump demanded flow calculation unit 42 outputs the pump demanded flow (pump demanded flow signal Qpr) via the adder 54, the maximum value selector 55, the subtracter 56, the gain switching device57, the multiplier 58 and the adder 59.
  • the pump flow command calculation unit 43 is to calculate the pump flow command signal Qpc indicating the pump flow command value for controlling the discharge flow from the pump 22 (FIG. 6) on the basis of the pump demanded flow outputted from the pump demanded flow rate calculation unit 42. Specifically, the pump flow command calculation unit 43 limits the pump demanded flow (pump demanded flow signal Qpr) outputted from the pump demanded flow rate calculation unit 42 by the constant horsepower flow obtained from the pump pressure, and outputs it as the pump flow command value (Pump flow command signal Qpc) .
  • this pump flow command calculation unit 43 On the input side of this pump flow command calculation unit 43, the pump demanded flow rate calculation unit 42 for inputting the pump demanded flow (pump demanded flow signal Qpr) and the pressure sensor 37 for inputting the pump pressure (pump pressure signal Pp) are electrically connected.
  • a constant horsepower flow table 61 for setting a constant horsepower flow on the basis of the pump pressure (pump pressure signal Pp) is provided.
  • a minimum value selector 62 for outputting as the pump flow command value (pump flow command signal Qpc) by selecting the minimum value of the output of constant horsepower flow table 61 and the pump demanded flow (pump demanded flow signal Qpr) is provided. That is to say, this pump flow command calculation unit 43 outputs the pump flow command value (pump flow command signal Qpc) via the constant horsepower flow table 61 and the minimum value selector 62.
  • the constant horsepower flow table 61 is a table that indicates the ratio of the pump flow to the pump pressure.
  • calculation units 41 to 43 fundamentally have the same configuration for the pump 22a and the pump 22b, respectively. Therefore, only the pump 22a is to be described in details below, and the description for the pump 22b is to be omitted.
  • an operator 36tl for driving left that inputs the driving left operation signal Stl an operator 36bm for the boom operation that inputs the boom operation signal Sbm, an operator 36am for the arm operation that inputs the arm operation signal Sam, and an operator 36bk for the bucket operation that inputs the bucket operation signal Sbk are electrically connected, respectively.
  • a left driving flow rate setting unit 45tl, a boom flow rate setting unit 45bm, an arm flow rate setting unit 45am, and a bucket flow rate setting unit 45bk are set corresponding to the operators 36tl, 36bm, 36am, and 36bk.
  • the driving left signal Stl, the boom operation signal Sbm, and the bucket operation signal Sbk are directly inputted from the operator 36tl, the operator 36bm, and the operator 36bk respectively.
  • the arm flow rate setting unit 45am a signal of which the arm operation signal Sam inputted from the operator 36am is restricted by the boom operation signal Sbm inputted from the operator 36bm is inputted.
  • the minimum value selector 65 is electrically connected to the arm flow rate setting unit 45am. To the minimum value selector 65, a signal in which the boom operation signal Sbm is limited by the arm restriction table 66 and the arm operation signal Sam are inputted. Then, the minimum value selector 65 selects and outputs a small value of these signals .
  • the flow rate setting table 47 and the flow rate setting table 48 correspond, for example, to the forward flow rate and the reverse flow rate in the left driving flow rate setting unit 45tl.
  • the flow rate setting table 47 and the flow rate setting table 48 correspond to the boom raising flow rate and the boom lowering flow rate in the boom flow rate setting unit 45bm, also correspond to the arm-in flow rate and the arm-out flow rate in the arm flow rate setting unit 45am, and correspond to the bucket-in flow rate and the bucket-out flow rate in the bucket flow rate setting unit 45bk.
  • an operator for attachment operation which is not shown, for inputting an attachment operation signal may be electrically connected to the input side of the demanded flow rate calculation unit 41.
  • the flow rate setting unit 45 may further be provided with an attachment flow rate setting unit.
  • the flow rate setting unit 45 (flow rate setting units 45tl, 45bm, 45am, and 45bk) of the actuator demanded flow rate calculation unit 41 (FIG. 2) as well as the work mode changeover switch 38 are electrically connected.
  • a plurality of, for example, three different gains Kl, K2, and K3 having different values are preset in the gain switching device 57 according to the work mode. Therefore, the work mode changeover switch 38 can select, for example, three kinds of work modes.
  • the pump demanded flow rate calculation unit 42 as well as the pressure sensor 37a for inputting the pump pressure signal Ppa are electrically connected
  • the controller 34 of the pump control device 35 obtains the sum total value and the maximum value of these demanded flows, with respect to the maximum value, sets the pump flow command value on the basis of a value obtained by adding a value obtained by multiplying a predetermined gain of the difference between the sum total value and the maximum value. More specifically, the controller 34 obtains the sum total value and the maximum value of these demanded flows, with respect to the maximum value, a value obtained by adding a value obtained by multiplying a difference between the sum total value and the maximum value by a predetermined gain as the pump demanded flow rate, and sets the pump flow command value by limiting the pump demanded flow by the constant horsepower flow rate.
  • the operation signal Si corresponding to the operation amount of the operator 36 is inputted to the flow rate setting unit 45 of the actuator demanded flow rate calculation unit 41.
  • the demanded flow is set by the flow rate setting tables 47 and 48 in accordance with the operation signal Si, and the startup speed of the output of these flow rate setting tables 47 and 48 is limited by the rate limiters 49 and 50, and by selecting the maximum value of the outputs of the rate limiters 49 and 50 by the maximum value selector 51, the demanded flow (demanded flow signal Qi) is to be set.
  • the demanded flow demanded flow signal Qi
  • the driving left demanded flow (the driving left demanded signal Qtl)
  • the boom demanded flow (the boom demanded flow signal Qbm)
  • the arm demanded flow (the arm demanded flow signal Qam)
  • the bucket demanded flow (the bucket demanded flow signal Qbk) are to be set respectively.
  • These set demanded flow rates (the demanded flow signal Qi) are inputted to the pump demanded flow rate calculation unit 42 shown in FIG. 3, respectively.
  • the adder 54 calculates the sum ( ⁇ Qi) of the demanded flow rate (the demanded flow signal Qi) .
  • the maximum value selector 55 selects the maximum value (Max (Qi) ) of these demanded flow rates (the demanded flow signal Qi) .
  • the subtracter 56 subtracts the output of the maximum value selector 55 from the output of the adder
  • the gain switching device 57 in which the switching signal SS from the work mode changeover switch 38 is inputted is to output one of the predetermined gains Kl, K2, and K3 as the gain K. It is to output by the outputted gain K and the output of the subtractor 56 are multiplied by the multiplier 58 (K ⁇ ( ⁇ Qi-Max (Qi) ) ) and this output of the multiplier 58 and the output of the maximum value selector
  • pump demanded flow signal Qpr Max (Qi) + K ⁇ ( ⁇ Qi - Max (Qi) ) .
  • the constant horsepower flow rate (constant horsepower flow signal) is set in the constant horsepower flow rate table 61 on the basis of the pump pressure (pump pressure signal Pp) detected by the pressure sensor 37, the pump demanded flow (the pump demanded flow signal Qpr) that is outputted from the pump demanded flow rate calculation unit 42 by the minimum value selector 62 is calculated by limiting with the constant horsepower flow rate (the constant horsepower flow signal) . Then by outputting this pump flow command value (the pump flow command signal Qpc) to the proportional solenoid valve 24 shown in FIG. 6, the flow rate of the pump 22 is to be controlled by the proportional solenoid valve 24 operating the swash plate control device 23.
  • the pump flow rate in the case of the gain being switched when a plurality of hydraulic actuators are combined is calculated.
  • examples of demanded flow rates of the boom cylinder 15c, the arm cylinder 16c, and the bucket cylinder 17c when the boom 15 (the operator 36bm) , the arm 16 (the operator 36am) , and the bucket 17 (the operator 36bk) are operated in combination are shown in FIGS. 8, and the calculation results by the controller 34 on the basis of these demanded flow rates are shown in FIG. 9 (a) to FIG. 9 (d) .
  • FIG. 9 (a) to 9 (d) show calculation results in which the upper limit of the square root of the sum of the respective demanded flow rates is limited by the pump maximum flow rate as a comparative example.
  • FIG. 9 (a) shows the case where the gain is 0 (mere maximum value of each demanded flow)
  • FIG. 9 (b) shows the case where the gain is 0.3
  • FIG. 9 (c) shows the case where the gain is 0.5
  • FIG. 9 (d) shows the case where the gain is 1 (mere sum of the demanded flow rates) .
  • the gain is 0.3, it mostly matches with the comparative example.
  • FIGS. 9 (a) to 9 (d) for example, in the case of work focusing on fuel consumption, by setting the gain low, it is possible to improve the fuel consumption by controlling the loss of energy due to loss of pressure of the flow control valve setting the pump flow rate lower than the opening area of each flow control valve of the control valve 25 in the combined operation.
  • the gain in the case where the emphasis is placed on productivity and work speed, by setting the gain to a higher value, it is possible to secure the productivity and work speed setting the pump flow rate according to the work in the combined operation.
  • the controller 34 obtains the sum total value and the maximum value of the demanded flows from the respective flow pressure actuators, with respect to the maximum value, to set the pump flow command value on the basis of a value obtained by adding a value obtained by multiplying a predetermined gain of the difference between the sum total value and the maximum value, and by changing the value of the gain, setting of the pump flow is to become easily changeable.
  • the gain may be set to an arbitrary value from 0 to 1, or may be set linearly in addition to selection from a plurality of fixed values.
  • the present invention has industrial applicability for operators involved in the manufacturing industry, sales industry and the like of a pump control device or work machine. DESCRIPTION OF THE SYMBOL

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Computer Hardware Design (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

L'invention vise à proposer un dispositif de commande de pompe, et un procédé de commande de pompe qui permet de modifier le réglage d'un flux de pompe. Le contrôleur (34) est destiné à obtenir la valeur totale et la valeur maximale des flux demandés à partir des actionneurs hydrauliques respectifs. Le contrôleur (34) est destiné, par rapport à la valeur maximale, à régler la valeur de commande de flux de pompe sur la base d'une valeur obtenue en ajoutant une valeur obtenue en multipliant un gain prédéterminé de la différence entre la valeur totale et la valeur maximale. En modifiant la valeur du gain, le réglage du débit de la pompe sera facilement modifiable.
PCT/EP2017/069571 2016-08-02 2017-08-02 Dispositif et procédé de commande de pompe Ceased WO2018024790A1 (fr)

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JP2016-152088 2016-08-02
JP2016152088A JP2018021589A (ja) 2016-08-02 2016-08-02 ポンプ制御装置およびポンプ制御方法

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3575615A4 (fr) * 2018-03-15 2020-11-18 Hitachi Construction Machinery Co., Ltd. Engin de chantier

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3106166B1 (fr) * 2020-01-09 2022-01-21 Bosch Gmbh Robert « Installation de commande d’une installation hydraulique à plusieurs récepteurs fonctionnant en parallèle ».

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0587902A1 (fr) * 1992-02-18 1994-03-23 Hitachi Construction Machinery Co., Ltd. Systeme de commande hydraulique
EP1655469A1 (fr) * 2003-08-12 2006-05-10 Hitachi Construction Machinery Co., Ltd. Dispositif de commande d'un vehicule de chantier
JP2013543086A (ja) 2010-09-09 2013-11-28 ボルボ コンストラクション イクイップメント アーベー 建設機械用可変容量型油圧ポンプの流量制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0587902A1 (fr) * 1992-02-18 1994-03-23 Hitachi Construction Machinery Co., Ltd. Systeme de commande hydraulique
EP1655469A1 (fr) * 2003-08-12 2006-05-10 Hitachi Construction Machinery Co., Ltd. Dispositif de commande d'un vehicule de chantier
JP2013543086A (ja) 2010-09-09 2013-11-28 ボルボ コンストラクション イクイップメント アーベー 建設機械用可変容量型油圧ポンプの流量制御装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3575615A4 (fr) * 2018-03-15 2020-11-18 Hitachi Construction Machinery Co., Ltd. Engin de chantier

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