CN103688064B - The controlling method of variable displacement pump - Google Patents
The controlling method of variable displacement pump Download PDFInfo
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- CN103688064B CN103688064B CN201280021242.8A CN201280021242A CN103688064B CN 103688064 B CN103688064 B CN 103688064B CN 201280021242 A CN201280021242 A CN 201280021242A CN 103688064 B CN103688064 B CN 103688064B
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- 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
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- 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
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- 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
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- 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
- F04B49/22—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 by means of valves
- F04B49/24—Bypassing
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- 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
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- 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"
- F15B11/0423—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 pump output or bypass, other than to maintain constant speed
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- 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
- F15B2211/20523—Internal combustion engine
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- 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
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- 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
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3105—Neutral or centre positions
- F15B2211/3111—Neutral or centre positions the pump port being closed in the centre position, e.g. so-called closed centre
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- 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
- F15B2211/632—Electronic controllers using input signals representing a flow rate
- F15B2211/6326—Electronic controllers using input signals representing a flow rate the flow rate being an output member flow rate
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6333—Electronic controllers using input signals representing a state of the pressure source, e.g. swash plate angle
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- 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
- F15B2211/634—Electronic controllers using input signals representing a state of a valve
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Abstract
There is provided a kind of controlling method of variable displacement pump, the method uses meta closed type position control valve to control variable displacement pump by the computing of controller, can avoid the possibility that motor is shut down, and effectively can apply flexibly variable displacement pump.Based on the characteristic curve of the relation of the head pressure and discharge flow rate that determine variable displacement pump, the first imaginary head pressure is determined according to the actual discharge flow rate of variable displacement pump, and based on the imaginary by-pass throttle area of the meta closed type position control valve determined according to the operation amount of above-mentioned position control valve, determine imaginary by-pass throttle flow, the value that actuator flow and imaginary by-pass throttle flow obtain is deducted based on the imaginary discharge flow rate from variable displacement pump, determine second of variable displacement pump the imaginary head pressure, variable displacement pump is controlled based on the some less value in the first imaginary head pressure or the second imaginary head pressure.
Description
Technical field
The present invention relates to the controlling method of the variable displacement pump applied in the machineries such as the building machinery utilizing by-pass throttle hydraulic system.
Background technique
The applicant proposes following method in patent documentation 1: for the oil hydraulic circuit used in the building machinery fields such as hydraulic shovel, can regulate the variable displacement pump of pump discharge flow rate from outside by engine-driving, connect actuator respectively via multiple meta closed type position control valve, replace the mode of meta bypass type position control valve to control variable displacement pump by electric computing with meta closed type position control valve.
This is namely replaced the part of each actuator pilot pressure and flow in the existing by-pass throttle characteristic portion possessing the by-pass throttle hydraulic system of meta bypass type position control valve with mathematical way, thus control the head pressure of variable displacement pump by the computing of controller.In existing variable displacement pump, make in fact to return fuel tank while control by a part for the control oil of variable displacement pump force feed, therefore, effectively cannot apply flexibly variable displacement pump, but by utilizing the computing of controller as whether having the head pressure controlling variable displacement pump by-pass throttle characteristic, thus, get rid of meta bypass from position control valve, thus only can discharge the control oil of the flow in fact needed.
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2007-205464 publication.
In the controlling method of the variable displacement pump described in patent documentation 1, example can be listed below: when carrying out the computing of pump discharge head indicated value (imaginary pump discharge head instruction Pidea), as shown in Figure 7, the value obtained divided by pump discharge head instruction Pidea with the horsepower He of motor carrys out restrictive pump discharge flow rate Qidea for the upper limit.But, usually, from the characteristic curve of the head pressure P of definition pump shown in Fig. 8 and the relation of discharge flow rate Q (below sometimes referred to as " characteristic curve "), variable displacement pump controls as follows: until predetermined pressure P 1 makes the discharge flow rate Q of pump constant, as Overpressure of a safety valve P1, make the product constant of head pressure P and discharge flow rate Q.Therefore, little and under the state of head pressure P Overpressure of a safety valve P1, although the discharge flow rate Q of pump can be increased, be reduced the operation result of pump discharge head instruction Pidea at the flow of the control oil being supplied to actuator, restrictive pump discharge flow rate Q, likely effectively cannot apply flexibly variable displacement pump.
On the other hand, in the controlling method of the variable displacement pump described in patent documentation 1, as shown in (a) and (b) of Fig. 9, also enumerate and do not consider that the horsepower of motor carrys out the example of computing pump discharge head indicated value (pump discharge head instruction Pidea).But when giving no thought to the horsepower of motor, the load of variable displacement pump is likely too high and motor shutdown occurs.
Summary of the invention
Therefore; the object of the present invention is to provide a kind of controlling method of variable displacement pump; the method uses meta closed type position control valve to control variable displacement pump by the computing of controller, can avoid the possibility that motor is shut down, and effectively can apply flexibly variable displacement pump.
In order to solve above-mentioned problem, find solution as described below.
Namely, the controlling method of variable displacement pump of the present invention controls variable displacement pump as described in the 1st aspect, this variable displacement pump is by engine-driving, pump discharge flow rate can be regulated from outside, actuator is connected with via one or more meta closed type position control valve, described controlling method replaces the mode of the position control valve of meta bypass type to control described variable displacement pump with above-mentioned meta closed type position control valve, it is characterized in that, detect the actual discharge flow rate of above-mentioned variable displacement pump and the operation amount of above-mentioned position control valve, based on the characteristic curve of the relation of the head pressure and discharge flow rate that determine above-mentioned variable displacement pump, the first imaginary head pressure is determined according to the actual discharge flow rate of above-mentioned variable displacement pump, make the actuator flow of the actual discharge flow rate of above-mentioned variable displacement pump needed for above-mentioned actuator, and based on the imaginary by-pass throttle area of the meta closed type position control valve determined according to aforesaid operations amount, determine imaginary by-pass throttle flow, the value that above-mentioned actuator flow and above-mentioned imaginary by-pass throttle flow obtain is deducted based on the imaginary discharge flow rate from above-mentioned variable displacement pump, determine second of above-mentioned variable displacement pump the imaginary head pressure, above-mentioned variable displacement pump is controlled based on a certain smaller value in above-mentioned first imaginary head pressure or the second imaginary head pressure.
In addition, in the controlling method of the variable displacement pump that the 2nd aspect of the present invention is recorded in the 1st, it is characterized in that, when above-mentioned motor being connected with the above-mentioned variable displacement pump of multiple stage and each in above-mentioned variable displacement pump is connected with one or more above-mentioned actuator via one or more above-mentioned meta closed type position control valve respectively, in advance or determine the ratio of the horsepower of the above-mentioned motor distributing to each above-mentioned variable displacement pump according to the operation amount of each above-mentioned meta closed type position control valve, above-mentioned first imaginary head pressure is determined according to each horsepower of above-mentioned distribution and the actual discharge flow rate of each above-mentioned variable displacement pump.
In addition, in the controlling method of the variable displacement pump that the 3rd aspect of the present invention is recorded in the 2nd, it is characterized in that, for each above-mentioned variable displacement pump, the value a certain less head pressure the actual discharge flow rate of each above-mentioned variable displacement pump and above-mentioned first imaginary head pressure or the second imaginary head pressure being added up to obtain is deducted from the horsepower of above-mentioned distribution, calculate the excess horse power of each above-mentioned variable displacement pump, excess horse power based on a variable displacement pump adds the horsepower that the horsepower of the above-mentioned distribution of other variable displacement pumps obtains, determine above-mentioned first imaginary head pressure.
4th aspect of the present invention in 1st ~ 3 in either side record variable displacement pump controlling method in, it is characterized in that, above-mentioned first imaginary head pressure is changed according to the operation amount of above-mentioned meta closed type position control valve.
In addition, in this manual, so-called " meta closed type position control valve " refers to valve control oil not being formed to bypass when valve pool is in neutral position.In addition, so-called " position control valve of meta bypass type " refers to the valve formed with making control oil bypass when valve pool is in neutral position.In addition, so-called " minus " refers to the type that output value reduces gradually relative to input value, and so-called " eurymeric " refers to the type that output value increases gradually relative to input value.
According to the controlling method of variable displacement pump of the present invention, under the state that there is not the possibility that motor is shut down, do not consider that the horsepower computing of motor is to obtain pump discharge head indicated value, effectively can apply flexibly variable displacement pump.Further, large in the load of variable displacement pump and under the state that there is the possibility that motor is shut down, consider that the horsepower of motor obtains pump discharge head indicated value, can prevent motor from shutting down.
In addition, when changing the horsepower distribution to each pump according to operating conditions, can have priority relative to each actuator, the improvement of expection operability, more effectively can apply flexibly the horsepower of motor.
Accompanying drawing explanation
Fig. 1 is the hydraulic circuit diagram of the controlling method of variable displacement pump for illustration of the first mode of execution of the present invention.
Fig. 2 is the block diagram of the control for illustration of Fig. 1.
Fig. 3 is the explanatory drawing of the part of being surrounded by dot and dash line A in Fig. 2.
Fig. 4 is the block diagram for illustration of the second mode of execution of the present invention.
Fig. 5 is the block diagram for illustration of the 3rd mode of execution of the present invention.
Fig. 6 is the block diagram of the variation for illustration of the 3rd mode of execution of the present invention.
Fig. 7 is the block diagram for illustration of the computing of existing by-pass throttle characteristic.
Fig. 8 represents the characteristic figure defining the head pressure of pump and the relation of discharge flow rate.
Fig. 9 is the block diagram for illustration of the computing of existing by-pass throttle characteristic.
Embodiment
Below, be described in detail with reference to the mode of execution of accompanying drawing to the controlling method of variable displacement pump of the present invention.
[the first mode of execution]
1, the overall structure of oil hydraulic circuit
First, the configuration example of oil hydraulic circuit of controlling method of the variable displacement pump can applying the first mode of execution of the present invention is described.
Fig. 1 illustrates the basic example being applied to the oil hydraulic circuit of hydraulic shovel etc. of the action controlling multiple hydraulic actuator 1a, 1b.Each actuator 1a, 1b are connected to the discharge loop 3 of the variable displacement pump 2 driven by motor E via meta closed type position control valve 4a, 4b.Variable displacement pump 2 is the known pumps such as the axial piston pump possessing the pump capacity control mechanisms such as swash plate.
Be connected with the discharge side pressure of the output of solenoid actuated the amplifier 5 and variable displacement pump 2 as feed back input inputted as instruction at the input side of pumping pressure control gear 6, be connected with control piston 7 at the outlet side of pumping pressure control gear 6.
Pumping pressure control gear 6 possesses control valve 6b and minus electromagnetic proportional valve 6c.Pressure signal P the effect of the two ends of the valve pool of control valve 6b has the actual pump discharge head Preal of variable displacement pump 2, the elastic force of spring 6d and controlled by minus electromagnetic proportional valve 6c ' c, but give suitable difference in areas to the two ends of valve pool, control valve 6b suitably controls according to their balance.
Minus electromagnetic proportional valve 6c plays the valve of function, the pressure signal P according to spring force, the input side relative with spring force as proportional pressure control valve ' equilibrium of forces that produces of the proportion electro-magnet 6a that changes controls c and the control current in proportion that can input with the control signal P ' tgt based on controller 12.
In addition, meta closed type position control valve 4a, 4b possess the proportion electro-magnet 8 making valve pool movement, when utilizing the operating stem 9 such as electric control bar to make 13 action of solenoid actuated amplifier via controller 12, make proportion electro-magnet 8 excitation accordingly with the tilt angle of operating stem 9.Thus, the valve pool of meta closed type position control valve 4a, 4b moves to the position of expectation, controls actuator port 10 into the opening area corresponding with its displacement distance.Consequently, the control oil of the flow corresponding with opening area is supplied to actuator 1a, 1b.
Utilize the amount of movement of sensor to the valve pool of the command quantities such as the tilt angle of the operating stem 9 for operating each meta closed type position control valve 4a, 4b or each meta closed type position control valve 4a, 4b to carry out electro-detection, this command quantity or amount of movement are the operation amount signal S of the operation amount based on each meta closed type position control valve 4a, 4b.In the example of fig. 1, use sending to the instruction electrical signal of solenoid actuated amplifier 13 as operation amount signal S from operating stem 9 via controller 12.
But, meta closed type position control valve 4a, 4b are actually the valve not having by-pass throttle stream, if ignore a little leakage of the control oil on stream, then the actual pump discharge flow rate Qreal of variable displacement pump 2 is substantially equal with actuator flow Qa.In the oil hydraulic circuit illustrated in the present embodiment, a variable displacement pump 2 is connected with multiple actuator 1a, 1b, and actuator flow Qa means the summation of the flow being supplied to the control oil of actuator 1a, 1b in all meta closed type position control valve 4a, 4b via actuator port 10.
In the present embodiment, variable displacement pump 2 is provided with the quantity sensor 11 that verts, the amount of verting detected by the quantity sensor 11 that verts is multiplied by the rotating speed of variable displacement pump 2, can calculate actual pump discharge flow rate Qreal thus.There is the leakage of the control oil from meta closed type position control valve 4a, 4b hardly, therefore, can using the value of actual pump discharge flow rate Qreal calculated as the predicted value Qai(of actuator flow Qa hereinafter referred to as " estimating actuator flow Qai ") use.
In addition, as detecting the method for actual pump discharge flow rate Qreal, such as when variable displacement pump 2 be ramp type variable displacement pump or radial pump, potentiometer etc. also can be used to detect actual pump discharge flow rate Qreal.
In the present embodiment, controller 12 is configured to possess A/D converter 12a, arithmetic mean unit 12b and D/A converter 12c.In controller 12, carry out calculation process based on the various electrical signal being input to controller 12.Arithmetic mean unit 12b performs the calculation process represented with block diagram in the dotted line B of Fig. 2.
2, the controlling method of variable displacement pump
Then, the controlling method of the variable displacement pump 2 utilizing the calculation process of controller 12 to perform is described particularly.
In the present embodiment, the MDP Pmax of variable displacement pump 2, the first imaginary head pressure Pidea1 obtained based on the characteristic curve of the relation of the head pressure P and discharge flow rate Q that define variable displacement pump 2, the second imaginary head pressure Pidea2 of obtaining based on operation amount signal S compare by controller 12, using the minimum value that obtains as pump discharge head indicated value Ptgt, carry out the control of variable displacement pump 2.
In addition, the MDP Pmax comprising variable displacement pump 2 in comparison other is the pump discharge head indicated value Ptgt that the head pressure of more than MDP Pmax in order to make variable displacement pump 2 is not indicated as variable displacement pump 2.But, as long as implement the present invention, MDP Pmax is not necessarily needed.
First imaginary head pressure Pidea1 obtains according to the horsepower computing of motor based on the actual pump discharge flow rate Qreal of variable displacement pump 2.Specifically, as mentioned above, actual pump discharge flow rate Qreal can by being multiplied by the rotating speed of variable displacement pump 2 by the amount of verting detected by the quantity sensor 11 that verts and obtaining.And then, based on the characteristic curve of the relation of the head pressure P and discharge flow rate Q that define variable displacement pump 2, this actual pump discharge flow rate Qreal is converted to the first imaginary head pressure Pidea1.The horsepower of the head pressure P of this variable displacement pump 2 and the product representation motor of discharge flow rate Q, from the viewpoint of the horsepower of motor, this first imaginary head pressure Pidea1 will set the upper limit of the discharge flow rate Q of variable displacement pump 2.In addition, characteristic curve is such as preferably: until predetermined pressure P 1 discharge flow rate Q is constant relative to head pressure P, in the region having exceeded pressure P 1, the product constant of head pressure P and discharge flow rate Q.
Second imaginary head pressure Pidea2 is by the program different from the program obtaining the first imaginary head pressure Pidea1 based on characteristic curve, based on the operation amount signal S of meta closed type position control valve 4a, 4b, the calculation process represented in the dot and dash line A of Fig. 2 is utilized to obtain.An example of the calculation process in the dot and dash line A of Fig. 2 is illustrated with reference to Fig. 3.
First, the imaginary pump discharge flow rate Qidea of variable displacement pump 2 is defined as predetermined value.As described later, based on having deducted from imaginary pump discharge flow rate Qidea, second imaginary head pressure Pidea2 has estimated that the flow value △ Q that actuator flow Qai and imaginary by-pass throttle flow Qb obtains utilizes closed loop computing to obtain, therefore, imaginary pump discharge flow rate Qidea can suitably set.The maximum discharge flow rate Qmax of such as variable displacement pump 2 is datum, therefore can use this value.In the present embodiment, the maximum discharge flow rate Qmax of variable displacement pump 2 is used as imaginary pump discharge flow rate Qidea.
Then, accept the input of the operation amount signal S of meta closed type position control valve 4a, 4b, based on the imaginary by-pass throttle characteristic prestored, obtain the opening area Ab of the imaginary by-pass throttle stream of meta closed type position control valve 4a, 4b of working as with operation amount signal S-phase.Although eliminate diagram in figure 3, accept the input of the operation amount signal Sk of multiple meta closed type position control valve 4a, 4b, by their summation S1+S2+ ... Sn is as the operation amount signal S added up to.Now, also can be weighted each input or carry out suitable calculation process.
The imaginary opening area Ab obtained is multiplied by the square root of the second imaginary head pressure Pidea2 calculated in this moment, and then the flow coefficient k q being multiplied by meta bypass type position control valve is to obtain imaginary by-pass throttle flow Qb.Certainly, actual meta closed type position control valve 4a, 4b are the meta closed types not having by-pass throttle stream, and the opening area Ab of this imaginary by-pass throttle stream is the value in computing.Use the design method same with the by-pass throttle characteristic of the meta bypass type position control valve in existing by-pass throttle hydraulic system, obtain the relation of imaginary opening area Ab in used meta closed type position control valve 4a, 4b and operation amount signal S in advance, determine this imaginary by-pass throttle characteristic thus.
And then, from imaginary pump discharge flow rate Qidea deduct estimate actuator flow Qai and imaginary by-pass throttle flow Qb and obtain flow value △ Q(△ Q=Qidea-Qai-Qb).Now, there is the leakage of the control oil from meta closed type position control valve 4a, 4b in fact hardly, therefore, if leakage rate is 0, then the actual pump discharge flow rate Qreal of variable displacement pump 2 is equal with actuator flow Qa.Therefore, the value of actual pump discharge flow rate Qreal can be used as estimate actuator flow Qai.Use digital filter etc., the flow value △ Q obtained is carried out integration divided by the pipe arrangement compressibility coefficient C ' p of pump piping system, the second imaginary head pressure Pidea2 can be calculated thus.
Like this, after obtaining the first imaginary head pressure Pidea1 and the second imaginary head pressure Pidea2, the MDP Pmax of the first imaginary head pressure Pidea1, the second imaginary head pressure Pidea2 and variable displacement pump 2 compares, using minimum value wherein as pump discharge head indicated value Ptgt by controller 12.And then controller 12, based on the control signal P ' tgt reversed by deducting pump discharge head indicated value Ptgt from the MDP Pmax of pump, carries out closed loop control to the head pressure of variable displacement pump 2.
That is, solenoid actuated amplifier 5 accepts the control signal P ' tgt of controller 12, makes the excitation of the proportion electro-magnet 6a of minus electromagnetic proportional valve 6c strengthen or weaken.Consequently, be inversely proportional to the size of this excitation, in other words, according to pump discharge head indicated value Ptgt, the proportional pressure of minus electromagnetic proportional valve 6c controlled, thus operation control valve 6b.Consequently, control piston 7 makes the action of pump capacity control mechanism, and control pump capacity and pump discharge flow rate increase or reduce.Consequently, the head pressure controlling variable displacement pump 2 increases or reduces, and the pressure overcoming minus electromagnetic proportional valve 6c carrys out operation control valve 6b.Like this, owing to carrying out closed loop control to pump discharge head, therefore, the value of actual pump discharge head Preal and pump discharge head indicated value Ptgt is roughly equal.
In addition, in the present embodiment, using the electromagnetic proportional valve 6c of minus, when not exporting control signal P ' tgt, variable displacement pump 2 can be driven with pressure maximum.But, eurymeric electromagnetic proportional valve also can be used to replace minus electromagnetic proportional valve.In this case, eliminate the program that pump discharge head indicated value Ptgt is reversed, process as pump discharge head indicated value Ptgt is equal with control signal P ' tgt.
In the present embodiment, under the situation of the possibility namely not having motor to shut down at most operating area, the second imaginary head pressure Pidea2 that value is less than the first imaginary head pressure Pidea1 becomes pump discharge head indicated value Ptgt to control.Second imaginary head pressure Pidea2 is carried out as follows as the control of the variable displacement pump 2 of pump discharge head indicated value Ptgt.
Such as when not operating operating stem 9, meta closed type position control valve 4a, 4b are in neutral position, input 0 as operation amount signal S to controller 12.In this case, become maximum by the opening area Ab of the imaginary by-pass throttle stream of controller 12 computing, therefore, the second imaginary head pressure Pidea2 and pump discharge head indicated value Ptgt is less value.Variable displacement pump 2 is discharged based on pump discharge head indicated value Ptgt and is controlled oil, but the actual pump discharge head Preal in the discharge loop 3 of pump piping system is compressed and after boosting to pump discharge head indicated value Ptgt, actual pump discharge flow rate Qreal only needs a little leakage rate in loop.
On the other hand, when operating operating stem 9 by meta closed type position control valve 4a, 4b to switching position direction operation time, reduced by the opening area Ab of the imaginary by-pass throttle stream of controller 12 computing.So imaginary by-pass throttle flow Qb reduces, and therefore flow value △ Q increases, to its carry out integration as a result, pump discharge head indicated value Ptgt increases.Consequently, at a certain operation amount, imaginary by-pass throttle flow Qb increases, and flow value △ Q is converged to 0, therefore, restrains and balances as the imaginary pump discharge flow rate Qidea pump discharge head indicated value Ptgt balanced with imaginary by-pass throttle flow Qb.Now, variable displacement pump 2 is discharged based on pump discharge head indicated value Ptgt and is controlled oil, but same with when not operating operating stem 9, and actual pump discharge flow rate Qreal only needs a little leakage rate in loop.
If actual pump discharge head Preal is higher than the induced pressure of actuator 1a, 1b, then actuator 1a, 1b move, and control oil and start flowing.So in order to actual pump discharge head Preal is remained pump discharge head indicated value Ptgt, actual pump discharge flow rate Qreal increases, the travelling speed of actuator increases, and therefore, estimate that actuator flow Qai increases, flow value △ Q becomes negative value and reduces.Therefore, pump discharge head indicated value Ptgt reduces, and imaginary by-pass throttle flow Qb reduces.And, pump discharge head indicated value Ptgt and then actual pump discharge head Preal decline, thus, the acceleration of actuator reduces, and restrains gradually and the actual pump discharge flow rate Qreal balanced as maintaining the actuator velocity matched with operation amount and actual pump discharge head Preal.During this period, by-pass throttle action is carried out by means of only computing in controller 12, if ignore the leakage on loop, then actual pump discharge flow rate Qreal is limited to the amount being supplied to actuator 1a, 1b.
Therefore, in fact do not have by-pass throttle traffic flow, therefore pump efficiency is not wasted, and in meta closed type position control valve 4a, 4b, do not need by-pass throttle stream, therefore, its structure is also simple and cheap, and operability might as well.Further, the discharge flow rate of pump also can not be restricted because of the horsepower characteristic of motor, and therefore pump efficiency is better.
On the other hand; second imaginary head pressure Pidea2 is being carried out in the process controlled as pump discharge head indicated value Ptgt; although be the state that the load of motor is large, if continue to increase the discharge flow rate of variable displacement pump 2, then likely there is motor and shut down.But, in this case, the the second imaginary head pressure Pidea2 calculated based on the operation amount signal S of meta closed type position control valve 4a, 4b exceedes the first imaginary head pressure Pidea1 that the horsepower characteristic based on motor calculates, and is controlled by the first imaginary head pressure Pidea1 as pump discharge head instruction Ptgt.Therefore, in the controlling method of the variable displacement pump of present embodiment, when motor likely occurring and shutting down, pump discharge head indicated value Ptgt is switched to the first imaginary head pressure Pidea1, shut down therefore, it is possible to avoid that motor occurs.
3, based on the effect of the method for the first mode of execution
As mentioned above; the control of variable displacement pump 2 is carried out by the controlling method of the variable displacement pump according to present embodiment; under making the state that namely there is not the possibility that motor is shut down at most operating area, the second imaginary head pressure Pidea2 that value is less than the first imaginary head pressure Pidea1 becomes pump discharge head indicated value Ptgt to control.This second imaginary head pressure Pidea2 does not consider the horsepower of motor and obtains, therefore, it is possible to apply flexibly the efficiency of variable displacement pump 2 to greatest extent self.On the other hand, when the load of motor is high, the calculate second imaginary head pressure Pidea2 is higher than the first imaginary head pressure Pidea1, and therefore, the first imaginary head pressure Pidea1 is controlled so as to as pump discharge head indicated value Ptgt.Therefore, under the situation easily motor shutdown occurring, the horsepower based on motor suppresses the actual pump discharge flow rate Qreal of variable displacement pump 2, therefore, it is possible to prevent motor from shutting down.
[the second mode of execution]
The controlling method of the variable displacement pump of the second mode of execution of the present invention, same with Fig. 1 use multiple actuator 1a, 1b ... in the oil hydraulic circuit that 1n is formed, the operation method of the second imaginary head pressure Pidea2 is different from the situation of the controlling method of the variable displacement pump of the first mode of execution.Below, the controlling method of block diagram to the variable displacement pump of present embodiment with reference to Fig. 4 is described.
Fig. 4 is the figure of another operation method for illustration of the second imaginary head pressure Pidea2, and the calculation process of the controller 12 represented in the dot and dash line A of Fig. 2 is shown.
In this Fig. 4, controller 12 accept multiple meta closed type position control valve 4a, 4b ..., 4n operation amount S1, S2 ... Sk ..., Sn input, about them, use following formula by compose operation obtain the meta closed type position control valve 4a suitable with imaginary by-pass throttle characteristic, 4b ..., 4n the opening area Ab of imaginary by-pass throttle stream as a whole.In addition, the Abk in formula refer to each meta closed type position control valve 4a, 4b ..., 4n imaginary by-pass throttle area A bk, be the value with each operation amount signal Sk with dependency relation, this point is as already described.
[mathematical expression 1]
Except carrying out except compose operation to the opening area Ab of imaginary by-pass throttle stream like this, same with the operation method of the second imaginary head pressure Pidea2 illustrated in the first mode of execution, imaginary opening area Ab is multiplied by the square root of the second imaginary head pressure Pidea2 calculated in this moment, and then be multiplied by the flow coefficient k q of meta bypass type position control valve, obtain imaginary by-pass throttle flow Qb.
The control of variable displacement pump 2 is carried out by the controlling method of the variable displacement pump according to present embodiment; under the state making the possibility namely not having motor to shut down at most operating area; the second imaginary head pressure Pidea2 that value is less than the first imaginary head pressure Pidea1 becomes pump discharge head indicated value Ptgt to control, and can obtain the operability conformed to the requirement characteristic of each actuator.This second imaginary head pressure Pidea2 self does not consider that the horsepower of motor is obtained, therefore, it is possible to apply flexibly the efficiency of variable displacement pump 2 to greatest extent.On the other hand, when the load of motor is high, the calculate second imaginary head pressure Pidea2 is more than the first imaginary head pressure Pidea1, and therefore, the first imaginary head pressure Pidea1 is controlled as pump discharge head indicated value Ptgt.Therefore, under the situation easily motor shutdown occurring, the horsepower based on motor suppresses the actual pump discharge flow rate Qreal of variable displacement pump 2, so can prevent motor from shutting down.
[the 3rd mode of execution]
The controlling method of the variable displacement pump of the 3rd mode of execution of the present invention relates to the method controlled variable displacement pump, in this variable displacement pump, be connected with multiple stage variable displacement pump relative to motor, variable displacement pump each on be connected with actuator via meta closed type position control valve respectively.
In the controlling method of the variable displacement pump of present embodiment, the first imaginary head pressure Pidea1 that characteristic curve except the relation based on the head pressure P and discharge flow rate Q that define variable displacement pump is obtained tries to achieve except method, can implement in the same manner as the situation of the controlling method of the variable displacement pump of the first mode of execution.Below, based on Fig. 5, the 3rd mode of execution of the present invention is described.
In addition, when possessing multiple variable displacement pump as in this embodiment on oil hydraulic circuit, for each variable displacement pump, obtain the first imaginary head pressure Pidea1, the second imaginary head pressure Pidea2 and pump discharge head indicated value Ptgt.
Fig. 5 is the operation method of the first imaginary head pressure Pidea1 based on controller in the controlling method of variable displacement pump in order to present embodiment is described and the figure represented, shows the variation of the part represented as " horsepower computing " in the block diagram of Fig. 2.In the example shown in the series of figures, the quantity of variable displacement pump 2a, 2b of being connected with motor is 2.Further, in order to make explanation simple, meta closed type position control valve 4a, a 4b and actuator 1a, 1b is connected to for each variable displacement pump 2a, 2b.In the example of this Fig. 5, distribute horsepower with the ratio of each 0.5 in advance to each variable displacement pump 2a, 2b.And then controller 12, according to the actual pump discharge flow rate Qreal of each horsepower and each variable displacement pump 2a, 2b of distributing to each variable displacement pump 2a, 2b, calculates the first imaginary head pressure Pidea1 of each variable displacement pump 2a, 2b.
In addition, in the example of hgure 5, controller 12 deducts the value being added up by the actual pump discharge flow rate Qreal of each variable displacement pump 2a, 2b and pump discharge head indicated value Ptgt to obtain from the horsepower distributing to each variable displacement pump 2a, 2b, calculate the excess horse power of each variable displacement pump 2a, 2b.And then, to distributing to a variable displacement pump 2a(2b) horsepower add other variable displacement pump 2b(2a) remaining horsepower, as this variable displacement pump 2a(2b) value of horsepower that can use.
According to this structure, except the effect that the controlling method of the variable displacement pump of the first mode of execution obtains, such effect can also be obtained: the residual capacity effectively can applying flexibly the horsepower distributing to each variable displacement pump 2a, 2b.
In addition, the quantity of the variable displacement pump be connected with a motor can be more than 3, in this case, in other variable displacement pump, also effectively can apply flexibly the excess horse power in a variable displacement pump.
Further, Fig. 6 is application examples in order to the 3rd mode of execution is described and the figure represented.In the example of this Fig. 6, not pre-determine the ratio distributing to the horsepower of the motor of each variable displacement pump 2a, 2b, but determine according to the operation amount of meta closed type position control valve 4a, 4b.Now, can be weighted for each variable displacement pump 2a, 2b or carry out suitable calculation process.According to the structure of this variation, reflect the operation amount of each actuator 1a, 1b be connected with each variable displacement pump 2a, 2b, regulate high with induced pressure or operate the ratio of the horsepower that variable displacement pump 2a, 2b that the high actuator of priority is connected can use.Therefore, it is possible to improve operability, effectively apply flexibly the horsepower of motor, thus can effectively apply flexibly variable displacement pump 2a, 2b further.
As mentioned above, according to the controlling method of the variable displacement pump of the 3rd mode of execution, except the effect that the method for the first mode of execution obtains, the effect effectively can applying flexibly the horsepower of motor can also be obtained.
In addition, also can relative to the multiple actuator of one or more connections in the multiple variable displacement pumps be connected with motor.In this case, the operation method that suitably can combine the second imaginary head pressure Pidea2 in the second mode of execution is implemented.
[other mode of executions]
First-three mode of execution described above only represents an example of embodiments of the present invention, and these mode of executions suitably can be out of shape in the scope of object of the present invention.
Such as, if increase the discharge flow rate of variable displacement pump in quadratic function mode according to the operation amount of actuator, then when operating separately an actuator, reduce the resistance in inlet restriction portion, avoid energy loss, improving the flow-dividing control effect at inlet restriction place when composition operation, the composition operation (with reference to having added the part of flow in fig. 5 and fig .) of the different actuator of load can being carried out.
Claims (3)
1. the controlling method of a variable displacement pump, variable displacement pump is controlled, this variable displacement pump is by engine-driving, pump discharge flow rate can be regulated from outside, actuator is connected with via one or more meta closed type position control valve, described controlling method replaces the mode of the position control valve of meta bypass type to control described variable displacement pump with above-mentioned meta closed type position control valve, it is characterized in that
Detect the actual discharge flow rate of above-mentioned variable displacement pump and the operation amount of above-mentioned position control valve,
Based on the characteristic curve of the relation of the head pressure and discharge flow rate that determine above-mentioned variable displacement pump, determine the first imaginary head pressure according to the actual discharge flow rate of above-mentioned variable displacement pump,
Make the actuator flow of the actual discharge flow rate of above-mentioned variable displacement pump needed for above-mentioned actuator, and based on the imaginary by-pass throttle area of the meta closed type position control valve determined according to aforesaid operations amount, determine imaginary by-pass throttle flow, based on by deducting above-mentioned actuator flow and above-mentioned imaginary by-pass throttle flow from the imaginary discharge flow rate of above-mentioned variable displacement pump and the value obtained, determine second of above-mentioned variable displacement pump the imaginary head pressure
Above-mentioned variable displacement pump is controlled based on the some smaller values in above-mentioned first imaginary head pressure or the second imaginary head pressure,
Above-mentioned motor is connected with the above-mentioned variable displacement pump of multiple stage and above-mentioned variable displacement pump each on be connected with one or more above-mentioned actuator via one or more above-mentioned meta closed type position control valve respectively,
Pre-determine above-mentioned motor and distribute to the ratio of the horsepower of each above-mentioned variable displacement pump, or according to the operation amount of each above-mentioned meta closed type position control valve, determine that the ratio of the horsepower of each above-mentioned variable displacement pump distributed to by above-mentioned motor,
Distribute to the horsepower of each above-mentioned variable displacement pump and the actual discharge flow rate of each above-mentioned variable displacement pump according to above-mentioned motor, determine above-mentioned first imaginary head pressure.
2. the controlling method of variable displacement pump according to claim 1, is characterized in that,
For each above-mentioned variable displacement pump, the horsepower distributing to each above-mentioned variable displacement pump from above-mentioned motor deducts the value a certain less head pressure the actual discharge flow rate of each above-mentioned variable displacement pump and above-mentioned first imaginary head pressure or the second imaginary head pressure being added up to obtain, calculate the excess horse power of each above-mentioned variable displacement pump
Excess horse power based on a variable displacement pump adds the horsepower of the above-mentioned distribution of other variable displacement pumps and the horsepower obtained, and determines above-mentioned first imaginary head pressure.
3. the controlling method of variable displacement pump according to claim 1 and 2, is characterized in that,
Above-mentioned first imaginary head pressure is changed according to the operation amount of above-mentioned meta closed type position control valve.
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| PCT/JP2012/055315 WO2013128622A1 (en) | 2012-03-02 | 2012-03-02 | Method for controlling variable displacement pump |
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| JP5631829B2 (en) | 2011-09-21 | 2014-11-26 | 住友重機械工業株式会社 | Hydraulic control device and hydraulic control method |
| KR102102505B1 (en) * | 2013-12-26 | 2020-04-21 | 두산인프라코어 주식회사 | Hydraulic system for Excavator and control method thereof |
| JP6367677B2 (en) * | 2014-10-03 | 2018-08-01 | ボッシュ・レックスロス株式会社 | Hydraulic circuit control device and hydraulic circuit control method |
| JP6367676B2 (en) * | 2014-10-03 | 2018-08-01 | ボッシュ・レックスロス株式会社 | Hydraulic circuit control device and hydraulic circuit control method |
| US10626986B2 (en) * | 2016-10-31 | 2020-04-21 | Hydraforce, Inc. | Hydraulic motor drive system for controlling high inertial load rotary components |
| JP7165074B2 (en) * | 2019-02-22 | 2022-11-02 | 日立建機株式会社 | working machine |
| JP7490478B2 (en) * | 2020-07-10 | 2024-05-27 | 株式会社小松製作所 | Working machine and method for controlling working machine |
| JP7594171B2 (en) | 2020-09-30 | 2024-12-04 | ダイキン工業株式会社 | Hydraulic unit and hydraulic actuator diagnosis method |
| EP4174324B1 (en) | 2021-10-29 | 2024-11-20 | Danfoss Scotland Limited | Controller and method for hydraulic apparatus |
| DE102022200249A1 (en) | 2022-01-12 | 2023-07-13 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for determining a pump operating variable for controlling a hydraulic system, method for determining a mapping function and machine |
| JP2024055161A (en) * | 2022-10-06 | 2024-04-18 | 株式会社クボタ | Hydraulic control device, hydraulic circuit control method, and hydraulic device |
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| EP2703652A4 (en) | 2015-07-15 |
| EP2703652A1 (en) | 2014-03-05 |
| KR20130142187A (en) | 2013-12-27 |
| KR101638339B1 (en) | 2016-07-12 |
| JPWO2013128622A1 (en) | 2015-07-30 |
| CN103688064A (en) | 2014-03-26 |
| JP5877616B2 (en) | 2016-03-08 |
| EP2703652B1 (en) | 2017-10-04 |
| WO2013128622A1 (en) | 2013-09-06 |
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