[go: up one dir, main page]

WO2015082189A1 - Procédé et système de détermination de paramètres variables dans le temps d'un système de propulsion hydrostatique - Google Patents

Procédé et système de détermination de paramètres variables dans le temps d'un système de propulsion hydrostatique Download PDF

Info

Publication number
WO2015082189A1
WO2015082189A1 PCT/EP2014/074524 EP2014074524W WO2015082189A1 WO 2015082189 A1 WO2015082189 A1 WO 2015082189A1 EP 2014074524 W EP2014074524 W EP 2014074524W WO 2015082189 A1 WO2015082189 A1 WO 2015082189A1
Authority
WO
WIPO (PCT)
Prior art keywords
parameters
pressure
hydrostatic
hydraulic
hydrostatic drive
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/EP2014/074524
Other languages
German (de)
English (en)
Inventor
Adrian Trachte
Alexandre Wagner
Daniel Seiler-Thull
Carolina Passenberg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to CN201480066515.XA priority Critical patent/CN105960553A/zh
Publication of WO2015082189A1 publication Critical patent/WO2015082189A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/46—Automatic regulation in accordance with output requirements
    • F16H61/472—Automatic regulation in accordance with output requirements for achieving a target output torque

Definitions

  • the invention relates to a method and a system for determining parameters of a hydrostatic travel drive that vary with time, comprising at least one primary-side and at least one secondary-side hydrostatic drive.
  • a primary-side axial piston machine and a secondary-side axial piston machine are connected in series.
  • axial piston machines in swash plate design can be adjusted via an adjustment of the swivel angle of the swash plate of the flow rate. Therefore, such an axial piston machine is also referred to as an adjusting machine.
  • the axial piston machine works as a pump or as an engine, it is also referred to as a variable displacement pump or an adjustment motor.
  • the example driven by an internal combustion engine primary-side axial piston machine when working as a pump, in particular variable displacement, converts on a drive side mechanical into hydraulic energy.
  • the secondary-side axial piston machine converts, if it works as a motor, in particular as Versteilmotor, hydraulic see mechanical energy.
  • the process can also be reversed, so that is braked by the secondary-side axial piston engine on the output side.
  • the interconnection of the primary-side axial piston machine and the secondary-side axial piston machine can take place both in an open circuit, the low-pressure sides of the two axial piston machines being connected to a pressure-balanced tank, and in a closed circuit, the low-pressure sides of the axial piston machines being directly involved. are connected to each other. Both circuits can be protected by pressure relief valves against excessive pressures.
  • the primary-side axial piston machine and the secondary-side axial piston machine are adjusted either separately or in a coupled manner.
  • the object of the invention is to simplify and / or to improve the operation of a hydrostatic travel drive which comprises at least one primary-side and at least one secondary-side hydrostatic drive.
  • the object is achieved in a method for determining parameters of a hydrostatic travel drive which vary over time, which comprises at least one primary-side and at least one secondary-side hydrostatic drive, in that the parameters during operation of the hydrostatic drive are identified.
  • a dynamic driving behavior of the hydrostatic drive for example, a secondary-side output torque is specified and regulated.
  • a model-based pressure control can be used. Due to, for example, air bubbles and temperature changes as well as aging effects, parameters such as a compression modulus and the leakage of a hydraulic system of the hydrostatic drive are subject to considerable fluctuations.
  • the time-variable parameters during operation or during the term of the hydrostatic drive are identified according to one aspect of the invention.
  • the quantities or parameters may then be provided, for example, to a model-based control or used for monitoring and diagnostics.
  • the method is also applicable to systems that have more than one on the primary side and / or the secondary side
  • Hydrostates include, for example, two or more secondary sides
  • a preferred embodiment of the method is characterized in that a compression module of a hydraulic medium and / or a Le ckage a hydraulic system of the hydrostatic drive in operation are identified. Alternatively or additionally, further parameters, in particular physical variables, can be identified.
  • a further preferred exemplary embodiment of the method is characterized in that volume flows over the primary-side and the secondary-side hydrostat are described on the basis of a displacement volume, a rotational speed and a standardized pivoting angle. For example, the volume of hydraulic fluid that displaces one hydraulic machine per revolution is referred to as displacement volume. The number of revolutions per unit time is called the speed.
  • the term swivel angle refers to a swivel cradle or swash plate, which serves in an axial piston machine to adjust the flow rate.
  • control flow rates are determined by geometries of hydraulic adjusting devices.
  • the control flow rates can be calculated in a simple manner, for example, via the geometry of an adjusting cylinder and / or a counter-cylinder.
  • a further preferred embodiment of the method is characterized in that the identified parameters are confirmed by a plausibility instance. In a plausibility check, it can be verified, for example by comparison with stored or stored parameter values, whether the currently identified parameters can be correct.
  • a further preferred exemplary embodiment of the method is characterized in that the identified parameters are used in a model-based pressure regulation in order to adaptively regulate an output torque of the secondary-side hydrostatic drive.
  • the model-based pressure control comprises, for example, a pilot control and a control loop.
  • a further preferred embodiment of the method is characterized in that the model for the pressure control is calibrated with a pressure measurement. In the pressure measurement, for example, measured values of at least one pressure sensor are detected.
  • a further preferred embodiment of the method is characterized in that the identified parameters are used for diagnostic purposes. Alternatively or additionally, the identified parameters can be used for other purposes.
  • the above object is achieved in a system for controlling a pressure of a hydrostatic drive comprising at least one primary side and at least one secondary side hydrostatic, alternatively or additionally solved by the fact that time-variable parameters are identified during operation of the hydrostatic drive, in particular according to a previously described Method.
  • the invention further relates to a computer program product comprising a computer program having software means for performing a previously described method when the computer program is executed on a computer.
  • the sole accompanying figure shows a hydraulic equivalent circuit diagram for a hydrostatic drive, which comprises a primary-side and a secondary-side hydrostatic.
  • the hydrostatic drive in the form of a hydraulic circuit diagram is shown simplified.
  • the hydrostatic drive includes a primary side hydrostatic 1 and a secondary side
  • Hydrostat 2 The two hydrostats 1 and 2 are designed as hydraulic machines, in particular as axial piston machine in swash plate design with a swash plate, which is also referred to as a swivel cradle.
  • a swivel angle of the swash plate or swivel cradle can be changed in order to adjust a delivery volume flow of the hydraulic machine or of the hydrostatic drive. Therefore, the hydraulic machines are also referred to as adjusting machines. Depending on its function, the hydraulic machine 1 is also referred to as a variable displacement pump. Similarly, the hydraulic machine 2 is also referred to as Versteilmotor.
  • the left side in Figure 1 with the primary side hydrostatic 1 is shortened referred to as the primary side 1.
  • the right side in Figure 1 with the secondary side hydrostatic 2 is also referred to as the secondary side 2.
  • the primary-side hydrostat 1 is shortened also referred to as primary unit.
  • the secondary-side hydrostat 2 is also referred to as a secondary unit.
  • the two hydraulic units 1 and 2 designed as hydraulic machines are connected on the input side to a low-pressure region 4.
  • the two hydrostats 1 and 2 are connected to a high pressure area.
  • the low-pressure region 4 comprises a pressure-compensated hydraulic medium of the reservoir 6, which is also referred to as low-pressure accumulator.
  • the hydraulic medium is, for example, hydraulic oil.
  • connection volume 10 which connects the output side of the hydraulic machine 1 with the output side of the hydraulic machine 2. Since the connection volume 10 is in the high pressure region 5, it is a high pressure volume.
  • a hydraulic accumulator is advantageously arranged in the high-pressure region 5, which is also referred to as high-pressure accumulator.
  • the pressure on the high pressure side is directly coupled to the level of the hydraulic accumulator and changes only relatively slowly. So that the mechanical power on the primary side can be transmitted as directly as possible to the secondary side, the hydraulic accumulator is decoupled.
  • the pressure, and thus also the output torque on the secondary side, can be regulated via a model-based controller using the identified parameters independently of environmental influences, tolerances and aging effects, as will also be explained in more detail below.
  • a high-pressure line is indicated, which connects the output of the primary-side hydraulic machine 1 with the high-pressure volume or connection volume 10.
  • a further hydraulic line is indicated, which connects the output of the secondary-side hydraulic machine 2 with the high-pressure volume or connection volume 10.
  • a low-pressure line 13 connects the input of the primary-side hydraulic machine 1 with the hydraulic medium reservoir 6.
  • a low-pressure line 14 connects the input of the secondary-side hydraulic machine 2 with the hydraulic medium reservoir 6.
  • a connecting line 16 with a hydraulic resistance 18 connects the low-pressure region 4 with the high-pressure volume or volume 10.
  • Bei the connection volume 10 is not a real connection line, but an equivalent circuit diagram for a connection, which can be realized for example with the aid of sealing gaps or sealing gaps between high pressure and low pressure.
  • the primary variable displacement pump 1 and the secondary Versteilmotor 2 are connected in series.
  • the primary unit 1 for example driven by an internal combustion engine, converts mechanical into hydraulic energy. Therefore, the primary side 1 is also called the drive side.
  • the secondary unit 2 converts hydraulic to mechanical energy on the output side. The process can also be reversed, so that is braked by the secondary unit 2 in the recuperation described above on the output side.
  • the pressure buildup in the volume 10 between the primary and secondary units is described via a model.
  • the model is calibrated with a pressure measurement to identify the parameters of the modulus of compression and leakage that are slowly changing in the model.
  • the parameters are identified online using a parameter identification method, such as a recursive least-squares (RLS) filter.
  • the estimated parameters are then used in a model-based regulator for pressure control.
  • volume flows via primary and secondary unit (s) can be described on the basis of the displacement volume c qi, the speed ⁇ , and the normalized swivel angle ⁇ , - for the ith machine
  • the control oil flow rates required to adjust the units can be easily calculated using the geometry of the adjustment and counter cylinders and the normalized tilt angle ⁇ .
  • Equation (1) can be solved for q and written as a vector product.
  • equation (7) can also be formulated recursively.
  • One possible implementation is described below
  • the combination of this online-enabled parameter identification and a model-based pressure control represents an adaptive model-based pressure control.
  • the identified parameters of the feedforward control and the controller are transferred.
  • model-based pressure control it must be taken into account that the expected parameter fluctuations in all operating states lead to the desired control behavior, in particular stability.
  • the identified parameters can first be confirmed by a plausibility check.
  • the adaptive pressure control function may be determined by considering the pressure history at different operating conditions affecting the system's leakage and replacement compression modulus.
  • the method can be applied to hydraulic power transmission hydraulic drives as generally shown in the accompanying figure. This is the case, for example, in a hydraulic hybrid drive, in which at least part of the power is transmitted via a hydraulic path.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

L'invention concerne un procédé de détermination de paramètres variables dans le temps d'un système de propulsion hydrostatique qui comprend au moins un hydrostat côté primaire (1) et au moins un hydrostat côté secondaire (2). Pour simplifier et/ou améliorer le fonctionnement du système de propulsion hydrostatique, les paramètres sont identifiés pendant son fonctionnement.
PCT/EP2014/074524 2013-12-04 2014-11-13 Procédé et système de détermination de paramètres variables dans le temps d'un système de propulsion hydrostatique Ceased WO2015082189A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201480066515.XA CN105960553A (zh) 2013-12-04 2014-11-13 用于求取液静式液压运行传动装置的随时间改变的参数的方法和系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013224823.7A DE102013224823A1 (de) 2013-12-04 2013-12-04 Verfahren und System zum Ermitteln von zeitlich veränderlichen Parametern eines hydrostatischen Fahrantriebs
DE102013224823.7 2013-12-04

Publications (1)

Publication Number Publication Date
WO2015082189A1 true WO2015082189A1 (fr) 2015-06-11

Family

ID=51947319

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2014/074524 Ceased WO2015082189A1 (fr) 2013-12-04 2014-11-13 Procédé et système de détermination de paramètres variables dans le temps d'un système de propulsion hydrostatique

Country Status (3)

Country Link
CN (1) CN105960553A (fr)
DE (1) DE102013224823A1 (fr)
WO (1) WO2015082189A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10920399B2 (en) 2017-06-27 2021-02-16 Komatsu Ltd. Work vehicle and control method for work vehicle
JP7160539B2 (ja) * 2018-02-23 2022-10-25 株式会社小松製作所 作業車両及び作業車両の制御方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080300758A1 (en) * 2007-06-01 2008-12-04 Clark Equipment Company Drive control system for a vehicle and method
DE102008059029A1 (de) * 2008-11-26 2010-05-27 Robert Bosch Gmbh Leistungsverzweigungsgetriebe und Verfahren zu dessen Steuerung

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5931758A (en) * 1998-04-08 1999-08-03 General Dynamics Land Systems, Inc. Simplified multi-range hydromechanical transmission for vehicles
US6260440B1 (en) * 1999-12-17 2001-07-17 Caterpillar Inc. Method and apparatus for shifting ranges in a continuously variable transmission
DE102010009704A1 (de) * 2010-03-01 2011-09-01 Robert Bosch Gmbh Hydraulischer Fahrantrieb und Verfahren zum Steuern eines derartigen Fahrantriebs

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080300758A1 (en) * 2007-06-01 2008-12-04 Clark Equipment Company Drive control system for a vehicle and method
DE102008059029A1 (de) * 2008-11-26 2010-05-27 Robert Bosch Gmbh Leistungsverzweigungsgetriebe und Verfahren zu dessen Steuerung

Also Published As

Publication number Publication date
CN105960553A (zh) 2016-09-21
DE102013224823A1 (de) 2015-06-11

Similar Documents

Publication Publication Date Title
EP2542779B1 (fr) Dispositif de régulation et méthode de commande de couple d'un 'arbre de commande d'un moteur pour machine hydrostatique
DE10250586A1 (de) Elektrohydraulisches Ventilsteuersystem und Steuerverfahren
WO2009024197A1 (fr) Commande hydraulique d'excavatrice, notamment pour un mécanisme rotatif
DE102011012905A1 (de) Hydraulischer Lüfterantrieb
DE102007010768B4 (de) Verfahren für die Optimierung der Ventilstellung und der Pumpendrehzahl in einem Ventilsystem mit PID-Regelung ohne die Verwendung externer Signale
EP2029408B1 (fr) Entraînement à fonction de récupération d'énergie avec soupape de régulation de pression de freinage
WO2012171603A2 (fr) Procédé et dispositif de commande d'un couple d'un moteur électrique d'un système électro-hydraulique
DE102019205505A1 (de) Axialkolbenpumpe für einen hydrostatischen Fahrantrieb, hydrostatischer Fahrantrieb mit der Axialkolbenpumpe, sowie Verfahren zur Steuerung
EP3954926A1 (fr) Procédé de réalisation d'une interface de couple et de vitesse de rotation à performances limitées pour transmissions hydrostatiques
DE102014226236A1 (de) Hydraulische Schaltung und Maschine mit einer hydraulischen Schaltung
DE102011118282A1 (de) Hydraulischer Pumpenprüfstand mit einer geregelten Rückspeiseeinheit
WO2015082189A1 (fr) Procédé et système de détermination de paramètres variables dans le temps d'un système de propulsion hydrostatique
EP3215744B1 (fr) Procédé d'élaboration d'un diagramme caractéristique d'une pompe à fluide, utilisation d'une soupape limitée, utilisation d'un clapet à gradins et appareil de commande pour système de refoulement de fluide
DE102017208988A1 (de) Verfahren zur Steuerung eines hydrostatischen Antriebs
WO2023078754A1 (fr) Procédé de surveillance d'un système hydraulique
DE102016201588A1 (de) Verfahren zur Einstellung eines hydrostatischen Fahrantriebs
DE102019213732A1 (de) Elektrohydraulischer Antrieb, insbesondere für ein Ziehkissen einer Presse
DE202011002591U1 (de) Wirkungsgradoptimierte hydraulische Antriebseinheit
DE102015202005A1 (de) Getriebepumpe mit verstellbarem Hubvolumen und Regler mit adaptiver Regelung
EP3988801A1 (fr) Procédé de fonctionnement d'un entraînement hydraulique
EP2853752B1 (fr) Système de régulation
DE102013213896A1 (de) Verfahren und System zum Regeln eines Drucks
DE112022007709T5 (de) Hydraulische Maschine
DE102022002192A1 (de) Volumenstromversorgung
WO2022207416A9 (fr) Dispositif de régulation d'une pompe hydraulique ou d'un moteur hydraulique

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14802360

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 14802360

Country of ref document: EP

Kind code of ref document: A1