CN107663874A

CN107663874A - The Hydraulic Velocity pattern of industrial machinery

Info

Publication number: CN107663874A
Application number: CN201710491419.5A
Authority: CN
Inventors: 史蒂夫·G·弗莱施曼
Original assignee: Deere and Co
Current assignee: Deere and Co
Priority date: 2016-07-29
Filing date: 2017-06-23
Publication date: 2018-02-06
Also published as: US20180030687A1; BR102017009519A2

Abstract

A kind of industrial operations machine includes mechanical arm and hydraulic actuator, and the hydraulic actuator is connected to the mechanical arm with the mobile arm between the first position and the second place.Valve and hydraulic actuator are in fluid communication for hydraulic actuator supply fluid.Pump is configured to discharge the fluid in valve.Load sensing system is configured to determine the load pressure value associated with the mechanical arm.Control device is configured to allow for selecting normal mode or speed shaping modes.Speed regulator is configured to：The input for carrying out self-control device is received, pressure tolerance value, and the pressure tolerance value of output amendment are corrected in response to the selection of speed shaping modes.Controller is coupled to the pump, the load sensing system and the speed regulator.The controller is configured to：Load pressure value is received from load sensing system, and the pressure tolerance value of amendment is received from speed regulator；Fluid drainage of both pressure tolerance values based on load pressure value and amendment regulation from pump.

Description

The Hydraulic Velocity pattern of industrial machinery

Technical field

Various exemplary embodiments are related to a kind of hydraulic control system.

Background technology

Many industrial machines, such as construction equipment, various moveable instruments are controlled using hydraulic pressure.One or more can The input or control device for being operably coupled to one or more hydraulic actuators are provided to operator, these hydraulic actuators The relative position of the multiple alternative packs or device of commanding apparatus is to perform various operations.For example, backhoe generally has multiple controls Bar and/or pedal processed control some functions of backhoe, such as the position of cantilever, are connected to the position of the dipper-arm of cantilever, And it is connected to the position of the scraper bowl of dipper-arm.

The content of the invention

According to exemplary embodiment, a kind of industrial operations machine, including：Mechanical arm；Hydraulic actuator, the hydraulic actuation Device is connected to the mechanical arm to move the arm between the first position and the second position；Valve, the valve and hydraulic actuator It is in fluid communication for hydraulic actuator supply fluid；Pump, the pump are configured to discharge the fluid in the valve；Load sense Examining system, load sensing system are configured to determine the load pressure value associated with the mechanical arm；Control device, control dress Put and be configured as allowing to select normal mode or speed shaping modes；Speed regulator, it is configured as：Receive from control dress The input put, pressure tolerance value is corrected in response to the selection to speed shaping modes, and

Export revised pressure tolerance value；And controller, controller are coupled to the pump, the load sensing system With the speed regulator, the controller is configured as：The load pressure value is received from load sensing system, and from speed Adjuster receives revised pressure tolerance value；Based on both the load pressure value and revised pressure tolerance value adjust come From the fluid drainage amount of the pump.

According to another exemplary embodiment, a kind of industrial operations machine, including：Framework；Multiple removable power driven tools are described more Individual removable power driven tools are connected to the framework, and each removable power driven tools can be moved individually between the first position and the second position It is dynamic；Multiple hydraulic actuators, wherein at least one hydraulic actuator are connected to each removable power driven tools；Multiple valves, wherein At least one valve is connected to each hydraulic actuator；Pump, the pump are configured to provide fluid to the multiple valve；Load Sensing system, the load sensing system is configured to determine the load pressure value associated with each removable power driven tools, and produces Corresponding to the signal of identified highest load pressure value；Control device, the control device are configured as allowing to the first speed The selection of degree pattern, second speed pattern or third speed pattern；And controller, the controller are coupled to the pump and institute Load sensing system is stated, wherein the controller includes speed regulation section, the speed regulation section is configured to from the control Device receives the input signal corresponding to the selection, in response to the selection amendment pressure to the second mode or the 3rd pattern Tolerance value, and revised pressure tolerance value is exported, controller, which is additionally configured to receive, corresponds to identified highest load pressure The signal of force value, and supplied based on highest load pressure value and revised pressure tolerance value to adjust the fluid from the pump Should.

According to another exemplary embodiment, a kind of service speed for being used to adjust the removable power driven tools on industrial operations machine Controller, the controller includes：Speed adjustment module；And pump control module, wherein the controller is configured as：From control Device processed receives speed shaping modes signal, and

Receive the load pressure value signal associated with removable power driven tools, and wherein, the speed adjustment module by with It is set to and obtains pressure tolerance value and correct the pressure tolerance value in response to the speed shaping modes signal, and wherein The pump control module is configured to produce pump pressure request based on the load pressure value and pressure tolerance value, and transmits The pump pressure is asked to correct the output of pump.

Brief description of the drawings

From the description of those exemplary embodiments of refer to the attached drawing, the aspect and feature of various exemplary embodiments will more Add substantially, wherein：

Fig. 1 is the perspective view for the exemplary commercial machine for being shown as backhoe loader；

Fig. 2 is the schematic diagram of a part for exemplary hydraulic system；

Fig. 3 is the flow chart of exemplary speed adjuster；

Fig. 4 is the flow chart of the illustrative methods of the speed regulation of hydraulic system；With

Fig. 5 is the flow chart of the exemplary hydraulic system of operating speed adjuster.

Embodiment

The system and method that exemplary embodiment is related to the translational speed for adjusting the hydraulic unit in industrial machine.Work Industry machine can be able to carry out such as digging up mine, agricultural, building, the vehicle or fixing device of the industrial task such as manufacture.Industrial machine Device generally includes to cause one or more parts that are mobile or performing task, and these parts may be collectively termed as movable part, can Mobile instrument or arm.Fig. 1 shows exemplary industrial machine, and it is shown as being able to carry out the digging with dirt or other materials Dig the backhoe loader vehicle 10 to mobile related different operating.

Vehicle 10 includes many tasks carrying instruments.For example, being connected to the loading machine 12 of the framework 14 of vehicle 10 can carry Rise and deliver the material being connected in the loading shovel 16 of support arm 18.Support arm 18 and loading shovel 16 can pass through one Individual or multiple hydraulic actuator 20A are increased or decreased relative to framework 14, and loading shovel 16 can by one or Multiple hydraulic actuator 20B move relative to support arm 18.Backhoe can be used for grooving and by cantilever 22, dipper-arm 24 Material is moved in movement with back hoe 26.Back hoe 26 is moveably coupled to dipper-arm 24, and dipper-arm 24 is removable Ground is connected to cantilever 22, and cantilever 22 is moveably coupled to framework 14.Cantilever 22 can pass through one or more hydraulic actuators The control of (not shown) in the first and second directions 30,32 relative to framework 14 to rotate.Dipper-arm 24 can by one or The control of multiple hydraulic actuators 38 on the first and second directions 34,36 relative to cantilever 22 to rotate.Back hoe 26 can By the control of hydraulic actuator 44 to be rotated on the first and second directions 40,42 relative to dipper-arm 24.Multiple ground connect Close or draw-gear 46 is connected to framework 14 so that vehicle 10 moves.Framework 14 can also pass through one or more stabilizer arms 48 are stabilized in single position.One or more control devices are positioned in driver's cabin or operating room 50, to allow user The motion of control instrument and vehicle 10.Operating room 50 is shown as the compartment of closing, but can be opening or partially enclosed 's.

Each hydraulic pressure for being exemplarily illustrated as including moveable piston and bar in hydraulic actuator 20,38,44 Cylinder.As one of ordinary skill in the art will appreciate, can pass through the corresponding side for piston hydraulic fluid being incorporated into hydraulic cylinder And/or the position for carrying out adjusting rod is removed from the corresponding side.In addition, the speed of bar movement is by hydraulic fluid to be incorporated into the phase of piston The flow of side or the hydraulic fluid removed from the corresponding side is answered to determine.

Fig. 2 is the partial schematic diagram of the exemplary embodiment of hydraulic system 100, and the hydraulic system 100 is configured to flow Body is supplied to the instrument in industrial machine.For the sake of clarity, the basic layout of a part for hydraulic system 100 is shown, And it will be recognized by those of ordinary skill in the art that according to machine and removable power driven tools, can use different hydraulic pressure, machinery and Electric component.Hydraulic system 100 includes receiving fluid from container 104 and supplies fluid to the pump of one or more components downstreams 102.For example, pump 102 is in fluid communication with one or more valves 106, and each valve 106 and at least one fluid of actuator 108 Connection.Load sensing system 110 is included in valve 106 or is connected to valve 106, and uses one or more load detecting parts Part 112 is to monitor the load pressure of actuator 108.Controller 114 is coupled to pump 102, load sensing system 110 and control dress 116 are put, and is configured to adjust pump output based on one or more input.

Exemplary embodiment shown in Fig. 2 shows three valves 106A, 106B, 106C, three actuators 108A, 108B, 108C and three load sensing part 112A, 112B, 112C, although any amount of valve 106, the He of actuator 108 can be used Load sensing part 112.For valve 106, actuator 108 and load sensing part 112 show one-one relationship, but such as this Field ordinarily skilled artisan will understand that, more than one actuator 108 can be associated with each valve 106, more than one valve 106 Can be associated with each actuator 108, and more than one load sensing part 112 can be associated with each valve 106.

Pump 102 is configured to discharge the fluid in valve 106.The fluid flow regulation discharged from pump 102 is fed to the He of valve 106 The pressure of the fluid of actuator 108.Pump 102 can be provided based on the signal from controller 114 and controlled adjustable output, Such as variable delivery pump or variable delivery pump.Fixed displacement pump can also be used together from different relief valve or feather valve, with Effectively create variable output.Pump 102 receives fluid, such as hydraulic oil from container 104, and discharges fluid with required flow To produce required system pressure.

The type of valve 106 can depend on the type of actuator 108 and machine.Each valve 106 can be connected to hydraulic tube Line is connected to one or more hydraulic lines so that fluid is sent into one or more to receive the fluid from pump 102 Actuator 108.Although it is not shown, valve 106 may be structured to receive letter from controller and/or one or more control devices Number, with the command selection based on user to the supply fluid of actuator 108.For the sake of clarity, the basic of valve 106 is shown Schematic diagram, and it will be appreciated by the skilled addressee that valve 106 can include one or more different types of valves, sensing (other hydraulic units are included by various hydraulic pressure, mechanically or electrically signal control for device, comparator, switch, adjuster and other hydraulic units Guiding valve/cylindrical valve (spool valves) of system, check-valves, solenoid etc.) system.

Actuator 108 can be similar to above-mentioned actuator 20,38,44, or can be those of ordinary skill in the art The hydraulic actuator for any other suitable type known.Fig. 2 shows three double acting hydraulic actuators 108A, 108B, 108C Exemplary embodiment.Each double acting actuator includes the first Room and second Room, and fluid passes through the associated quilt of valve 106 First or second Room are selectively delivered to, so that actuator moves along respective direction.Actuator 108 can flow with container 104 Body connects so that the fluid for leaving actuator 108 is discharged to container 104.

In the exemplary embodiment, each actuator 108 controls the operation of corresponding removable power driven tools.Exemplary is removable Power driven tools can include the loading shovel 16 of vehicle 10 shown in Fig. 1, moveable arm 18, cantilever 22, dipper-arm 24 and/or anti- Shovel scraper bowl 26.In one embodiment, two actuators 108 control identical instrument.One example is lifting support arm 18, should Support arm 18 includes the actuator of each (only showing one) being used in two support arms 18.In another embodiment, Multiple actuators 108 control different instruments.One example is the rise and reduction of actuator 108A control dipper-arms 24, and Actuator 108B controls the movement of back hoe 26.The type of instrument is by depending on the type of industrial machine and times to be performed Business.

During use, each instrument can produce variable load, and hydraulic pressure on associated hydraulic actuator 108 System 100 can carry out pressure compensation to support variable load by load sensing system 110.Load sensing system 110 and determine one The load request of individual or multiple instruments, and produce the load pressure value for adjusting pump output.In the exemplary embodiment, load Sensing part 112 is associated with each valve 106, to measure load from actuator 108 or the pressure requirements on valve 106. Load sensing part 112 may be embodied in valve 106 or communicate therewith.For example, load sensing part 112 can include and main valve One or more shuttle valve/the reversal valves (shuttle valves) or isolating valve of 106 connections.Shuttle valve determines two entrances pressure The signal of maximum pressure is simultaneously sent to new position by maximum pressure.Some systems can use the list associated with each actuator Individual shuttle valve, and other systems can use one group of main shuttle valve and one group of pair shuttle valve.Main shuttle valve determination is associated with actuator most High pressure, such as extend or retract in dual actuation cylinder, and export elevated pressures.Secondary shuttle valve is used to select from more than one valve 106 Select maximum pressure.Therefore, secondary shuttle valve can be fewer than the quantity of main shuttle valve one.Load sensing part 112 can utilize other liquid Pressure, machinery, electricity and/or electromechanical assembly and method determine load pressure value and are output to controller 114.

Controller 114 can include receiving with processing data and sending any properly programmed processing of appropriate command Device or computer.Controller 114 can have multiple inputs and output as needed.Controller 114 can be based on input and Also based on carrying out being manually entered and being automatically brought into operation for self-control device 116.Control device 116 can be positioned in operating room 50, and And the equipment that one or more buttons, switch, bar, pedal, control stick or other users manipulate can be included.

In addition to load pressure requirement, controller 114 may be constructed such that to be compensated to tolerance limit pressure.Controller 114 can indicate pump 102 provide be referred to as pressure tolerance value (margin pressure value) required load pressure it On extra pressure (extra pressure).Pressure tolerance value can be based on the pressure loss in such as system or estimation The pressure loss.Tolerance limit pressure can be also used for helping the transporting velocity of controlling pump quickly to adapt to pressure change or excessive pressure Power demand.

Controller 114 receives load pressure value from load sensing system 110, and obtains pressure tolerance value.Then this is combined Two values with realize pump output or flow.Controller 114 can obtain pressure tolerance value in many ways.For example, tolerance limit pressure Can be：Be built in it is in controller 114, storage in memory or the different operating parameter based on machine or vehicle from comprising The predetermined value that the look-up table of different value receives；By the adjustable value of the controls such as user, technical staff, dealer, manufacturer；It is based on The external action of the use of part in hydraulic system and/or such as temperature and the measured value fluctuated；Or its any combinations.Ability Domain is ordinarily skilled artisan will understand that the other manner of structure pressure tolerance value.

According to exemplary embodiment, as shown in figure 3, speed regulator 120 can utilize the step of describing in Fig. 4 to respond Pressure tolerance value is corrected in the input for carrying out self-control device 116.For example, controller 114 receives load pressure value (step 202), and control device 116 can allow user to select speed shaping modes (step 204).In speed shaping modes, speed Spend adjuster 120 and obtain pressure tolerance value (step 206).Pressure tolerance value can be obtained from controller 114, or can be used Any of above method method obtains pressure tolerance value by speed regulator 120.Speed regulator 120 is in response to user Select to correct pressure tolerance value (step 208) to increased or decrease tolerance limit pressure.In the exemplary embodiment, using standard valve Tolerance limit pressure and the request of speed is increasedd or decreased to perform calculating.As shown in figure 3, controller 114 is by the pressure tolerance of amendment Value combines (step 210) with load pressure value, to obtain pump output pressure.Then, controller 114 produces a signal to correct Pump exports (step 212).In the exemplary embodiment, output is the pump load sensing pressure value of amendment, and it produces the pump of amendment Output.Because pressure caused by pump 102 directly affects hydraulic actuator and the thus translational speed of removable power driven tools, reduce or Increase pressure tolerance value can adjust the translational speed of all removable power driven tools associated with pump 102.Speed regulator 120 can With included in controller 114, such as equipment, module, control algolithm, logical program or other software, or speed Adjuster 120 can be with the processor of other combined communications and the list of memory with controller 114, pump 102 or part Only and independent equipment.

The type of control signal and the regulative mode of pump 102 will change according to system.For example, control signal can be from Controller 114 is sent directly to pump 102 or pump controller, can be sent out by loading the valve in sensing system 110 from controller 114 Control signal is sent, or valve (not shown) and pump load sensor can be produced from the transmission control of controller 114 by loading to sense Signal processed.Control signal can be electronic, hydraulic pressure, mechanical or its is any combination of.In the exemplary embodiment, telecommunications Number it is sent to the valve for being hydraulically connected to pump 102.

Fig. 5 shows the exemplary embodiment of the hydraulic system using speed regulator.The system is included from main control valve 304 receive the actuator 302 of fluid.Main control valve 304 includes load sensing system, and the load sensing system will load sensing please 306 are asked to submit to controller 308.Asked if desired, user performs velocity mode request 310 with triggering based on velocity mode 310 and valve tolerance limit pressure 314 velocity mode calculate 312.Velocity mode calculates 312 to be held based on the velocity mode amendment asked Limits pressure 314, and the value calculated is output to controller 308.Controller 308 will load sensing request 306 and the speed calculated Degree mode value 312 is combined to create velocity mode pressure request value, using pressure-current look-up table 316 by the velocity mode pressure Power value request is converted to current value.Then resulting electric current is output to load sensing and produces valve 318, load sensing produces Valve 318 is communicated with hydraulic pump 320 to change the flow from pump discharge 322.It can be electric ratio pressure that load sensing, which produces valve 318, Force control valve, such as hoist type deadweight safety valve, the safety valve can use from controller 308 can power transformation input and advising Determine step-less adjustment in scope, wherein pressure output is proportional to electric current input.

Different operations may need different translational speeds.For example, certain operations, such as carried out with backhoe close to pipeline Excavate, it is necessary to the movement of part that is accurate or being finely controlled backhoe.Therefore, it is desirable to each part has high-resolution movement Speed.Truck is moved to remove in another example, such as by dirt, it is expected to provide the higher movement of the part of backhoe Speed, to reduce circulation time.Therefore, it is desirable to the translational speed with relatively low resolution ratio or more rough resolution ratio.

Therefore, speed shaping modes can include the translational speed of reduction instrument at a slow speed or accurate pattern and raising The quick or high-yield mode of the translational speed of instrument.For example, control device 116 has two discrete settings：Corresponding to normal behaviour Make (gain=1) first set and corresponding at a slow speed or precise manipulation (gain ＜ 1) second set.In another example, Control device 116 has three discrete settings, is set corresponding to the first of normal operating (gain=1), corresponding to precise manipulation The second of (gain ＜ 1) sets and operated corresponding to quick or high yield the 3rd setting of (gain G T.GT.GT 1).In various exemplary implementations In example, control device 116 is with multiple settings or with variable gain, such as the situation in stepless adjustable controller 116 Under.

In various exemplary embodiments, slow speed mode can arrive about in about the 20% of the speed of normal mode In the range of 100%, although if desired, slow speed mode may be structured to low arrive only more than the 0% of normal mode.Various In exemplary embodiment, slow speed mode can be about the 50% or about 55% of the speed of normal mode.Various exemplary In embodiment, quick mode can be in the range of about 100% to about the 200% of the speed of normal mode.Show various In example property embodiment, quick mode is about the 120% or about 130% of the speed of normal mode.In various exemplary implementations In example, speed regulated quantity can be selected by user to reach about the 200% of normal mode.

The reduction of translational speed and the reduction of tolerance limit pressure can change according to system.Therefore, the reduction of translational speed Reduction with tolerance limit pressure be not necessarily it is linear, i.e., the 50% of speed reduction not necessarily be equal tolerance limit pressure 50% drop It is low.

By changing tolerance limit pressure, system can efficiently reduce or increase the mobile speed of one or more removable power driven tools Degree, without using complicated electro-hydraulic valve.

In order to explain the purpose of General Principle and practical application, there has been provided some above-mentioned exemplary embodiments it is detailed Description, so that skilled artisans appreciate that the disclosure of various embodiments and suitable for expected specific use The various amendments on way.It is that the description is not intended to be limit or open will be limited to disclosed exemplary embodiment.It is public herein Any embodiment for opening and/

Or element can be combined with each other to form not specifically disclosed various additional embodiments.Therefore, additional embodiment It is possible, and is intended to be included in this specification and scope of the following claims.This description describes specific example To realize the more typically target that can be realized in another way.

As used in this application, term " preceding ", " rear ", " on ", " under ", " upward ", " downward " and other orientations are retouched State symbol to be intended to contribute to the exemplary embodiment for describing the disclosure, and be not intended to the structure of the exemplary embodiment of the disclosure It is restricted to any ad-hoc location or orientation.Term " substantially " or " approximation " can understand by those of ordinary skill, refer to Zone of reasonableness outside definite value, for example, with the manufacture of described embodiment, assembling and use associated general tolerance.

Claims

1. a kind of industrial operations machine, including：

Mechanical arm；

Hydraulic actuator, the hydraulic actuator are connected to the mechanical arm to move institute between the first position and the second position State arm；

Valve, the valve and hydraulic actuator are in fluid communication for hydraulic actuator supply fluid；

Pump, the pump are configured to discharge the fluid in the valve；

Sensing system is loaded, load sensing system is configured to determine the load pressure value associated with the mechanical arm；

Control device, control device are configured as allowing to select normal mode or speed shaping modes；

Speed regulator, it is configured as：

The input for carrying out self-control device is received,

Pressure tolerance value is corrected in response to the selection to speed shaping modes, and

Export revised pressure tolerance value；With

Controller, controller are coupled to the pump, the load sensing system and the speed regulator, the controller quilt It is configured to：

The load pressure value is received from load sensing system, and revised pressure tolerance value is received from speed regulator；

Fluid drainage amount from the pump is adjusted based on both the load pressure value and revised pressure tolerance value.

2. industrial operations machine according to claim 1, wherein the speed shaping modes are including slow speed mode and quickly Pattern, each pattern in slow speed mode and quick mode can be selected independently, wherein the selection to the slow speed mode reduces The translational speed of the mechanical arm, and the selection to the quick mode increases the translational speed of the mechanical arm.

3. industrial operations machine according to claim 2, wherein, the speed regulator is in response to the slow speed mode Selection and reduce the pressure tolerance value, and increase the pressure tolerance value in response to the selection to the quick mode.

4. industrial operations machine according to claim 2, wherein in the slow speed mode, the translational speed relative to Operation in normal mode reduces about 50%.

5. industrial operations machine according to claim 2, wherein in the quick mode, the translational speed relative to Operation increase about 20% in normal mode.

6. industrial operations machine according to claim 1, wherein the speed regulator based on predetermined tolerance limit pressure come Calculate the revised pressure tolerance value.

7. industrial operations machine according to claim 1, wherein the mechanical arm includes swing arm, cantilever or back boom.

8. industrial operations machine according to claim 1, wherein the speed regulator is comprised in the controller.

9. a kind of industrial operations machine, including：

Framework；

Multiple removable power driven tools, the multiple removable power driven tools are connected to the framework, and each removable power driven tools can be individually Move between the first position and the second position；

Multiple hydraulic actuators, wherein at least one hydraulic actuator are connected to each removable power driven tools；

Multiple valves, wherein at least one valve are connected to each hydraulic actuator；

Pump, the pump are configured to provide fluid to the multiple valve；

Sensing system is loaded, the load sensing system is configured to determine the load pressure associated with each removable power driven tools Value, and produce the signal for corresponding to identified highest load pressure value；

Control device, the control device are configured as allowing to First Speed pattern, second speed pattern or third speed mould The selection of formula；With

Controller, the controller are coupled to the pump and the load sensing system, wherein the controller includes speed Adjustment portion, the speed regulation section are configured to receive the input signal for corresponding to the selection, response from the control device In the selection amendment pressure tolerance value to the second mode or the 3rd pattern, and revised pressure tolerance value is exported,

Controller is additionally configured to receive the signal for corresponding to identified highest load pressure value, and based on highest load pressure Force value and revised pressure tolerance value are supplied to adjust the fluid from the pump.

10. industrial operations machine according to claim 9, started building wherein one in the multiple removable power driven tools is removable One removable power driven tools that translational speed of the tool in the second mode is in the multiple removable power driven tools are in institute In the range of state the translational speed in first mode about 20%~100%.

11. industrial operations machine according to claim 9, wherein a mobile instrument in the multiple removable power driven tools One mobile instrument that translational speed in the 3rd pattern is in the multiple removable power driven tools is described In the range of about 100%~200% of translational speed in one pattern.

12. industrial operations machine according to claim 9, wherein the operation in the second mode or the 3rd pattern changes Become the speed of all removable power driven tools of the multiple removable power driven tools.

13. industrial operations machine according to claim 9, wherein, first in the multiple removable power driven tools is removable Instrument includes cantilever, and the second removable instrument in the multiple removable power driven tools includes scraper bowl.

14. industrial operations machine according to claim 9, wherein the control device includes being used to select first mould The user interface of formula, the second mode or the 3rd pattern.

15. a kind of controller, the controller is used for the service speed for adjusting the removable power driven tools on industrial operations machine, the control Device processed includes：

Speed adjustment module；With

Pump control module,

Wherein described controller is configured as：

Speed shaping modes signal is received from control device, and

The load pressure value signal associated with removable power driven tools is received, and

Wherein, the speed adjustment module is configured to obtain pressure tolerance value and in response to the speed shaping modes signal To correct the pressure tolerance value, and

Wherein described pump control module is configured to produce pump pressure request based on the load pressure value and pressure tolerance value, And the pump pressure request is transmitted to correct the output of pump.

16. controller according to claim 15, wherein, the speed shaping modes signal represents slow speed mode or quick Pattern, wherein the operation under the slow speed mode corresponds to the reduction of the translational speed of the removable power driven tools, and wherein institute State increase of the operation in quick mode corresponding to the translational speed of the removable power driven tools.

17. controller according to claim 15, wherein pump pressure request is passed to and is in fluid communication with the pump Valve.

18. controller according to claim 15, wherein the pressure tolerance value is predetermined value.

19. controller according to claim 15, wherein pump pressure request includes electronic signal.

20. controller according to claim 17, wherein the removable instrument is by the hydraulic pressure that is in fluid communication with the valve Actuator drives.