Method of forming quadrant control valve system, quadrant control valve system and hydraulic system

Abstract

A method for forming a quadrant control valve system V2 of a hydraulic system 200 is provided. The quadrant control valve system V2 comprises at least one control valve assembly SVA2 comprising at least one control valve SV1, SV2, SV3, SV4 and comprising an electronic valve controller C2 and a control valve sensor system. The method mainly comprises the following steps: automatically carrying out quadrant-based load condition analysis, automatically carrying out loop diagram synthesis, automatically carrying out controller synthesis, and implementing a synthesis loop diagram and a synthesis controller.

Description

Technical Field

[0001] The present invention relates to a method for forming a quadrant control valve system, a quadrant control valve system and a hydraulic system. Background Art

[0002] Various control valve systems for controlling hydraulic consumers (e.g., hydraulic cylinders or hydraulic motors) in hydraulic systems are known in the prior art. Modern control valve systems have a control valve device for each hydraulic consumer to be controlled, a control valve sensor system, and an electronic valve controller. Each control valve device includes at least one electromagnetically or electro-hydraulically actuated control valve. The electronic valve controller typically includes a controller for the control valve device, which is implemented in the electronic valve controller in the form of software. A common controller can be provided for all control valve devices, or a separate controller can be provided for each control valve device. Sensor data from the control valve sensor system is used to control the variable to be regulated. The control valve sensor system can consist of sensors (e.g., pressure sensors, volume flow sensors, temperature sensors, or the like) distributed throughout the hydraulic system and the control valve system, which are arranged as separate components.

[0003] These control valve systems are specifically configured for the specific application (i.e. the hydraulic system or hydraulic consumer to be controlled). Their implementation involves extensive individual development work, which increases with the increasing complexity of the hydraulic systems to be controlled and the increasing demands on the precision and stability of the controlled operating points.

[0004] Furthermore, the growing demand for functions such as anomaly detection, condition monitoring, or predictive maintenance also requires control valve systems that can adaptively implement these functions. Summary of the Invention

[0005] Against this background, it is an object of the present invention to provide an overall method for implementing an adaptive, self-learning control valve system that is as automated as possible.

[0006] According to the present invention, a method for forming a quadrant control valve system for a hydraulic system is provided. The hydraulic system includes at least one hydraulic consumer, which is controlled by the quadrant control valve system. The quadrant control valve system includes a control valve arrangement for each hydraulic consumer of the hydraulic system to be controlled, a control valve sensor system, and an electronic valve controller, wherein each control valve arrangement includes at least one control valve. The method comprises the following steps:

[0007] -According to the hydraulic system demand data, automatically perform quadrant-based load condition analysis on the entire hydraulic system to be controlled;

[0008] - synthesizing a hydraulic diagram for the quadrant control valve system based on the quadrant-based load condition analysis, wherein the hydraulic diagram synthesis includes assigning responsibilities to each control valve of each control valve assembly based on the quadrant-based load condition analysis;

[0009] -Synthesize controllers for quadrant control valve systems based on the synthesized hydraulic diagram and responsibility allocation;

[0010] - implementing the synthetic hydraulic diagram of the quadrant control valve system; and

[0011] - implementing the synthesized controller in an electronic valve controller of a quadrant-controlled valve system.

[0012] Preferably, hydraulic map synthesis, responsibility allocation and / or controller synthesis are also performed automatically.

[0013] The control valve sensor system primarily includes sensors (e.g., pressure, flow rate, and / or temperature sensors) for all variables required to control the regulated variable (e.g., pressure, flow rate). Preferably, each control valve includes at least one integrated fluid sensor as part of the control valve sensor system. A fluid sensor is any type of sensor used to measure a hydraulic fluid parameter relevant to controlling the regulated variable.

[0014] The formation of the control valve system here refers to both the hardware implementation of the hydraulic circuit diagram and the software implementation of the necessary control and regulation programs in the electronic valve control.

[0015] The quadrant control valve system is a control valve system based on quadrant-based load condition analysis.

[0016] Quadrant-based load case analysis involves assigning all load cases occurring in a hydraulic system to a four-quadrant domain for each hydraulic consumer. The four-quadrant domain defines the possible motions and load directions of an individual hydraulic consumer. Therefore, depending on the load case actually occurring at each hydraulic consumer, operating points exist in a different number of quadrants of the corresponding four-quadrant domain corresponding to the load case occurring at that particular hydraulic consumer. This quadrant-based load case analysis allows conclusions to be drawn regarding the required quadrant control valve system for the hydraulic system to be controlled. Quadrant-based load case analysis can be automated, for example, using lookup tables, libraries, or machine learning methods.

[0017] In this case, a quadrant control valve system also refers to a control valve system whose control valve arrangement for the hydraulic consumers includes one, two, or four control valves, depending on the requirements of the hydraulic consumers to be controlled. This quadrant control valve system offers a high degree of freedom in its technical design, depending on the number of control valves actually required, and also offers a high degree of freedom in the individual control and regulation of each control valve when all four control valves are present. This allows for both an extremely efficient control valve system and extremely flexible implementation of complex control and regulation requirements.

[0018] In this example, circuit diagram synthesis involves (preferably automatically) creating a hydraulic circuit diagram for the quadrant control valve system. The (preferably automated) assignment of responsibilities to each control valve also involves (preferably automatically) assigning specific responsibilities (e.g., fully open, fully closed, or modulating) to each control valve based on automated quadrant-based load case analysis to accommodate each occurring load case. Both automated circuit diagram synthesis and automated responsibility assignment can be performed, for example, based on a lookup table or library storing corresponding combinations of load cases, circuit diagrams, and responsibilities, or using machine learning methods.

[0019] Controller synthesis involves configuring a controller for each control valve in a quadrant control valve system. This controller synthesis can be automated using machine learning methods. For example, based on demand data, quadrant-based load condition analysis, the synthesized loop diagram, and / or the assignment of responsibilities to each control valve, a computer-based model structure is used to identify the behavior of the entire hydraulic system and extract the system equations for the entire hydraulic system. Based on the extracted system equations, the corresponding controller can then be automatically synthesized. For example, an ANARX structure (additive nonlinear autoregressive exogenous model), an LSTM structure (long short-term memory), an ARMA structure (autoregressive moving average), and / or an RNN structure (recurrent neural network) can be used as a computer-based model structure.

[0020] The implementation of the synthetic loop diagram refers to the hardware implementation of the quadrant control valve system.

[0021] The implementation of the composite controller involves embedding the composite controller into the electronic valve controller on the software side. The electronic valve controller can include a central electronic valve controller for all control valve devices of a quadrant control valve system, or multiple electronic valve controllers for individual control valve devices or even individual control valves.

[0022] It should also be noted that according to the present invention, a control valve arrangement can simultaneously control more than two hydraulic consumers (for example, a lifting device with four lifting cylinders that are controlled via a common control valve arrangement). However, each hydraulic consumer to be controlled is assigned a control valve arrangement for controlling the respective hydraulic consumer.

[0023] The method according to the invention represents an overall method for implementing a quadrant control valve system in a largely automated manner.

[0024] The results of the automated quadrant-based load case analysis preferably reflect all load cases occurring in the hydraulic system and all transitions between load cases for each hydraulic consumer in the four-quadrant domain. Thus, in a two-axis coordinate system, each of the four quadrants reflects a unique combination of positive or negative loads and positive or negative motions for the corresponding hydraulic consumer. Examples of positive and negative loads are push and pull loads. Examples of positive and negative motions include extension and retraction of a hydraulic cylinder or rotation of a hydraulic motor in the first and second directions. In this way, all load cases occurring for each hydraulic consumer, as well as all transitions between load cases, can be represented in the four-quadrant domain. Based on this, the number of control valves required for each hydraulic consumer and the duties that each control valve must perform under each load case can be automatically selected.

[0025] If the hydraulic system includes at least two hydraulic consumers that are operated exclusively sequentially, a load case analysis is preferably performed automatically for each hydraulic consumer separately. Alternatively, if the hydraulic system includes at least two hydraulic consumers that are also operated in parallel, a load case analysis is preferably performed automatically for each hydraulic consumer separately, and also for each case in which the at least two hydraulic consumers are operated in parallel. If the hydraulic consumers are operated in parallel, energy can be recovered by using a dedicated circuit diagram architecture. In other words, for example, energy from one hydraulic consumer that is typically converted into heat (i.e., lost) as part of throttling can be used to operate another hydraulic consumer.

[0026] Preferably, hydraulic diagram generation is automated and includes automatic selection of the required number of control valves for each control valve assembly. By default, a single control valve assembly in a quadrant control valve system includes four control valves. However, since there are some simple applications where not all four control valves are required, it is preferred that the selection of the actual number of control valves required for each control valve assembly be included as part of the automated circuit diagram generation. This reduces manufacturing costs and system complexity.

[0027] Furthermore, each control valve is preferably an electromagnetically (or electro-hydraulically) actuated, 2 / 2-way control valve, which is preferably configured as a valve core. Each control valve arrangement preferably comprises at least two control valves, and particularly preferably comprises four control valves. Specifically, each control valve is a proportional electromagnetically actuated, 2 / 2-way control valve. The use of purely electromagnetically actuated, 2 / 2-way control valves simplifies the system architecture and allows for the flexible use of standardized components. By using four electromagnetically actuated, 2 / 2-way control valves in a single control valve arrangement, the control valve arrangement can control all conceivable hydraulic consumers and accurately and reliably adjust the desired operating point with a high degree of flexibility.

[0028] The hydraulic system requirement data preferably includes measured and / or simulated data from the hydraulic system. Optionally, specific customer requirements, such as specific specifications regarding the energy efficiency or maximum energy consumption of the hydraulic system to be controlled at certain operating points, can also be included as part of the requirement data. This means that even complex customer specifications can be automatically implemented in the pre-defined quadrant control valve system.

[0029] Preferably, the method further comprises the following subsequent steps:

[0030] - read sensor data recorded and stored during operation of the quadrant control valve system, and

[0031] -Optimize the distribution of responsibilities between individual control valves and complex controllers based on recorded and stored sensor data.

[0032] By accessing sensor data recorded and stored during the operation of the quadrant control valve system, optimization is performed based on actual measurement data from the resulting quadrant control valve system, and thus on a database that is as accurate and realistic as possible. This allows for a more comprehensive database to be available during the optimization process, particularly for controller synthesis, leading to better results. Additionally or alternatively, the optimization process can be based on revised or newly added demand data for the hydraulic system. This allows the resulting quadrant control valve system to be subsequently adapted to changing environmental conditions, signs of wear, or even evolving customer requirements as part of a retrofit.

[0033] Furthermore, it would be beneficial if the subsequent reading and optimization steps could also be performed automatically during operation of the quadrant control valve system. Preferably, the subsequent steps are performed automatically by the valve controller of the quadrant control valve system, either continuously or at predetermined intervals. This results in a fully self-learning, adaptive quadrant control valve system that can independently adjust itself (particularly with the implementation of a synthetic controller) to changing environmental conditions and / or signs of wear.

[0034] It is more preferred if the automation steps of the method are performed on a computer using a machine learning method. The machine learning method preferably includes a convolutional neural network (CNN), a transformer (Transformer) model, a recurrent neural network (RNN) and / or a knowledge-based method. The knowledge-based method can also be referred to as a "rule-based system" or "expert system". These constitute a subfield of artificial intelligence / machine learning. In a knowledge-based method, action recommendations and / or conclusions are derived from an existing knowledge base, which is typically created and maintained by an expert. A system based on fixed rules is a simple example that uses "if-then" queries to influence decision-making. Another example is a decision tree. Compared to neural networks, making decisions using a knowledge-based method is relatively transparent and easy to understand. In this case, a knowledge-based method can be used for example for automatic loop diagram synthesis. For example, many different versions of (partial) loop diagrams and the corresponding responsibilities of each control valve will be stored in a library / lookup table. On this basis, fixed rules are used in combination with given demand data to perform automatic loop diagram synthesis.

[0035] According to the present invention, a quadrant control valve system for a hydraulic system is provided. The hydraulic system includes at least one hydraulic consumer, which is controlled by the quadrant control valve system. The quadrant control valve system includes a control valve arrangement for each hydraulic consumer to be controlled in the hydraulic system, a control valve sensor system, and an electronic valve controller. The quadrant control valve system is formed according to the above-described method. Preferably, the control valve sensor system is integrated into each control valve.

[0036] The quadrant control valve system according to the present invention provides an automatically implemented adaptive control valve system.

[0037] Preferably, the quadrant control valve system further comprises a memory unit for storing sensor data recorded by the control valve sensor system during operation of the quadrant control valve system. In this way, subsequent optimization steps can be simply and automatically performed during operation or as part of a quadrant control valve system update process. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be described in more detail below with reference to the embodiments shown in the accompanying drawings. The accompanying drawings schematically show:

[0039] Figure 1 is a circuit diagram of a hydraulic system according to a first exemplary embodiment;

[0040] Figure 2 Based on Figure 1 Exemplary load cases of a first exemplary embodiment of the present invention;

[0041] Figure 3 for Figure 2Four-quadrant domain for the load case shown;

[0042] Figure 4 is a circuit diagram of a hydraulic system according to a second exemplary embodiment;

[0043] Figure 5 Based on Figure 4 Exemplary load cases for a second exemplary embodiment of the present invention;

[0044] Figure 6 for Figure 5 Four-quadrant domain for the load case shown;

[0045] Figure 7 is a circuit diagram of a hydraulic system according to a third exemplary embodiment;

[0046] Figure 8 is a circuit diagram of a hydraulic system according to a fourth embodiment;

[0047] Figure 9 is a simplified block diagram of the method according to the present invention. DETAILED DESCRIPTION

[0048] Figure 1 1 shows a schematic circuit diagram of a hydraulic system 100 according to a first exemplary embodiment. The hydraulic system 100 comprises a hydraulic pump 10, a hydraulic consumer 12, which in the exemplary embodiment is configured as a hydraulic motor, a quadrant control valve system V1 with a control valve arrangement SVA1 (including control valves SV), and a tank 14. Figure 1 As shown, the control valve SV in this example is a proportional electromagnetically actuated two-position two-way control valve with an electromagnetic actuator 16 and a return spring 18. The return spring biases the control valve SV to its closed initial position. In addition, two pressure sensors PS are integrated into the control valve SV. Figure 1 Only one of them is shown schematically in FIG. The pressure sensor PS is part of the control valve sensor system of the quadrant control valve system V1 and detects the pressure upstream and downstream of the control edge of the control valve SV. In addition, the quadrant control valve system V1 includes an electronic valve controller C1 and a memory unit M1.

[0049] The hydraulic system 100 of the first exemplary embodiment describes the configuration of a hydraulic cable winch in which a hydraulic motor 12 actuates the cable winch and a quadrant control valve system V1 controls flow from a hydraulic pump 10 through the hydraulic motor 12 .

[0050] Figure 2 The load conditions occurring in the hydraulic system 100 and their transitions in the three phases PH1, PH2 and PH3 are shown as examples. The pressures (p A and p B) changes with time t. The movement direction s of the hydraulic motor 12 and the force F acting on the movement direction s are respectively shown in the three stages PH1, PH2 and PH3.

[0051] Thus, in this example, the hydraulic system 100 is specifically configured for the hydraulic motor 12 (cable winch) to pull a load (represented by force F) in the direction of motion s.

[0052] Figure 2 The three phases PH1, PH2, and PH3 correspond to three load conditions. In the first and third load conditions LF1 and LF3 of phases PH1 and PH2, the hydraulic motor 12 rotates in the direction of motion s and no load is applied. Therefore, in this case, load conditions LF1 and LF3 are identical. In the second load condition LF2 of phase PH2, the hydraulic motor 12 rotates in the direction of motion s and pulls a load, represented by force F. Figure 2 The p / t diagram in FIG. 1 clearly shows the pressure p upstream and downstream of the hydraulic motor 12 during the various phases PH1 to PH3. A and p B The difference between them, and the transition of the pressure curve between PH1 to PH3 in each stage.

[0053] Figure 3 Displayed in the form of a four-quadrant domain Figure 2 The load cases LF1 to LF3 are shown in FIG. The four-quadrant domain consists of the first quadrant QI, the second quadrant QII, the third quadrant QIII, and the fourth quadrant QIV. The direction of motion s of the hydraulic motor 12 is plotted on the abscissa of the four-quadrant domain. The load p acting on the hydraulic motor 12 is plotted on the ordinate.

[0054] like Figure 3 As shown, the first load case LF1 and the third load case LF3 correspond to points between the second quadrant QII and the third quadrant QIII on the abscissa. In these cases, no load p is applied, but the hydraulic motor 12 rotates as if the cable winch is being pulled in (negative motion direction s). On the other hand, the second load case LF2 corresponds to a point in the third quadrant QIII. In this case, the hydraulic motor 12 rotates as if the cable winch is being pulled in, and the force F also pulls the cable winch (positive load p).

[0055] like Figure 3 As shown, in the four-quadrant domain representing the three load cases LF1 to LF3 of the hydraulic system 100 of the first exemplary embodiment (cable winch), there is no transition between the respective quadrants QI to QIV at the transition between the respective load cases LF1 to LF3. Figure 3 The four-quadrant domain of the hydraulic system 100 shown can be directly derived in principle. Figure 1The form shown is a quadrant control valve system V1 having only one control valve SV (the simplest form of a quadrant control valve system).

[0056] Figure 4 A schematic circuit diagram of a hydraulic system 200 according to a second embodiment is shown. The hydraulic system 200 comprises a hydraulic pump (not shown), a hydraulic cylinder 20 (hydraulic consumer), a quadrant control valve system V2 with a control valve arrangement SVA2, and a tank (not shown). The control valve arrangement SVA2 comprises a first control valve SV1, a second control valve SV2, a third control valve SV3, and a fourth control valve SV4. Figure 4 As shown, the control valves SV1 to SV4 are the same as the control valve SV of the first embodiment, and therefore are not described again. In addition, the quadrant control valve system V2 includes an electronic valve controller C2 and a memory unit M2.

[0057] In the hydraulic system 200 according to the second exemplary embodiment, the first control valve SV1 controls the flow of hydraulic fluid from the pump (see Figure 4 p in P ) flows into the rod side 22 of the hydraulic cylinder 20. The second control valve SV2 controls the flow of hydraulic fluid from the rod side 22 of the hydraulic cylinder 20 to the tank (see Figure 4 p in T The third control valve SV3 controls the flow of hydraulic fluid from the pump to the piston side 24 of the hydraulic cylinder 20. The fourth control valve SV4 controls the flow of hydraulic fluid from the piston side 24 of the hydraulic cylinder 20 to the tank.

[0058] The hydraulic system 200 schematically corresponds to a lifting device of a forklift. Figure 5 The corresponding load cases LF1 to LF5 are shown. Figure 5 Also shown is the pressure p A (here the pressure on the piston side 24) and p B The curve of the change of (here the pressure on the rod side 22) in each load condition in the five stages PH1 to PH5. The first load condition LF1 and the third load condition LF3 correspond to the extension of the hydraulic cylinder 20 when there is no load. The second load condition LF2 corresponds to the extension of the hydraulic cylinder 20 when there is a load (see Figure 5 The fourth load condition LF4 corresponds to the contraction of the hydraulic cylinder 20 when there is no load. The fifth load condition LF5 corresponds to the contraction of the hydraulic cylinder 20 when there is a load (see Figure 5 force F in the direction of motion s).

[0059] Figure 6 Again shown in the form of a four-quadrant domain Figure 5Load conditions LF1 to LF5 of the hydraulic system 200 are shown. The first load condition LF1 and the third load condition LF3 correspond to the same point on the abscissa between the first quadrant QI and the fourth quadrant QIV of the four-quadrant domain (positive motion direction s, hydraulic cylinder 20 extended, no load p). The second load condition LF2 corresponds to a point in the fourth quadrant QIV (positive motion direction s, negative load p). The fourth load condition LF4 corresponds to a point on the abscissa between the second quadrant QII and the third quadrant QIII (negative motion direction s, hydraulic cylinder 20 retracted, no load). The fifth load condition LF5 corresponds to a point in the third quadrant QIII of the four-quadrant domain (negative motion direction, negative load p).

[0060] Therefore, if Figure 6 As shown, the hydraulic system 200 can perform load transition between the third quadrant QIII and the fourth quadrant QIV. For example, it can directly transition from the second load condition LF2 (the hydraulic cylinder 20 extends under the pressure load p) to the fifth load condition LF5 (the hydraulic cylinder 20 retracts under the pressure load p), and vice versa. Figure 6 The four-quadrant domain of the hydraulic system 200 shown can be directly derived in principle. Figure 4 The illustrated form of the quadrant control valve system V2 includes four control valves SV1 to SV4 (a standard form of the quadrant control valve system).

[0061] Figure 7 An exemplary circuit diagram of a hydraulic system 300 according to a third exemplary embodiment is shown, which has a quadrant control valve system V3 with a control valve device SVA3, the control valve device including a first control valve SV1 and a second control valve SV2, a hydraulic pump 10, a single-acting hydraulic cylinder 26 automatically reset by a return spring 28, and a tank 14. The hydraulic system 300 corresponds to a controller of a variable cylinder of an axial piston variable pump, for example. Figure 7 As shown, the control valve device SVA3 of the quadrant control valve system V3 only needs two control valves SV1 and SV2 to control the piston side inlet and outlet of the single-acting hydraulic cylinder 26. The quadrant control valve system V3 also includes an electronic valve controller C3 and a memory unit M3, as shown in FIG. Figure 7 Shown schematically.

[0062] Figure 8An exemplary circuit diagram of a hydraulic system 400 according to a fourth exemplary embodiment is shown, which comprises a quadrant control valve system V4, a hydraulic pump 10, a tank 14, and a plurality of hydraulic cylinders 30, 32, 34, 36 as hydraulic consumers. Specifically, the hydraulic system 400 corresponds to the configuration of a telescopic forklift truck, which comprises a tilt cylinder 30, a lift cylinder 32, a telescopic cylinder 34, and a compensating cylinder 36. In this case, the tilt cylinder 30, the lift cylinder 32, and the telescopic cylinder 34 represent the hydraulic consumers to be controlled in the hydraulic system 400 and are controlled by the control valve arrangement SVA4, the control valve arrangement SVA5, and the control valve arrangement SVA6 of the quadrant control valve system V4, respectively. The control valve arrangements SVA4, SVA5, and SVA6 each comprise four control valves, which, for the sake of clarity, are shown as follows: Figure 8 These valves are not shown in detail. The quadrant control valve system V4 also includes an electronic valve controller C4 and a memory unit M4, such as Figure 8 For the sake of clarity, the connections between the electronic valve controller C4 and the other components of the quadrant control valve system V4 are not shown in the figure. The same applies to the memory unit M4.

[0063] refer to Figure 9 A method for forming a quadrant control valve system for a hydraulic system according to the present invention will now be described. By way of example, this method can be applied to all quadrant control valve systems V1 to V4 of the hydraulic systems 100 to 400 described above. Hydraulic systems 100 to 400 are primarily used to illustrate quadrant control valve systems of varying complexity. For simplicity, the following description of the method according to the present invention will refer to the method according to the present invention. Figures 4 to 6 The exemplary embodiment shown shows a quadrant control valve system V2 for a hydraulic system 200 .

[0064] The method according to the present invention mainly comprises steps S1 to S5, and optionally further comprises steps S6 and S7. Steps S1 to S3 are performed in a computer-based manner using a machine learning method.

[0065] In step S1, the load condition analysis of the entire hydraulic system 200 to be controlled is automatically performed based on the demand data of the hydraulic system 200. In this example, the demand data includes the measurement data and / or simulation data of the hydraulic cylinder 20, such as Figure 5 The result of the automatic quadrant-based load case analysis in step S1 corresponds to Figure 6 The four-quadrant domain of load conditions for the hydraulic system 200 is shown as an example in FIG.

[0066] In step S2, based on the quadrant load condition analysis, the hydraulic circuit diagram of the quadrant control valve system V2 is automatically synthesized. This circuit diagram synthesis includes automatically assigning responsibilities to each control valve SV1, SV2, SV3 and SV4 in the control valve assembly SVA2 based on the quadrant load condition analysis. Specifically, Figure 5 In the load cases LF1 to LF5 schematically shown in FIG, the responsibilities of control valves SV1 to SV4 are distributed as follows: When hydraulic cylinder 20 extends (load cases LF1 to LF3), third control valve SV3 controls the supply of hydraulic fluid from the pump to piston side 24 of hydraulic cylinder 20. Second control valve SV2 is fully open under load cases LF1 to LF3 to relieve pressure on rod side 22 toward the tank. On the other hand, first control valve SV1 and fourth control valve SV4 are fully closed during hydraulic cylinder extension (load cases LF1 to LF3). When the hydraulic cylinder retracts (load cases LF4 and LF5), the pressure load generated by load case LF4 could further accelerate the downward movement of hydraulic cylinder 20. To prevent this, retraction of hydraulic cylinder 20 is controlled by fourth control valve SV4 according to load cases LF4 and LF5. When hydraulic cylinder 20 retracts, first control valve SV1, which controls the flow of fluid from the pump to rod side 22 of the hydraulic cylinder, is fully opened. The speed of hydraulic cylinder 20 is controlled solely by the opening degree of fourth control valve SV4. When the hydraulic cylinder 20 retracts, the second control valve SV2 and the third control valve SV3 are fully closed.

[0067] In step S3 , based on the synthesis loop diagram and responsibility allocation in step S2 , controller synthesis is automatically performed on the quadrant control valve system V2 .

[0068] In step S4, Figure 4 The synthetic circuit diagram of the quadrant control valve system V2 is converted into hardware.

[0069] In step S5 , the controller synthesized in step S3 is sequentially implemented in the electronic valve controller C2 of the quadrant control valve system V2 .

[0070] The memory unit M2 stores all sensor data recorded by the control valve sensors of the quadrant control valve system V2 during operation of the hydraulic system 200. Specifically, these data are sensor data of the pressure sensors PS integrated in the control valves SV1 to SV4.

[0071] In step S6 , the sensor data recorded during the operation of the quadrant control valve system V2 and stored in the memory unit M2 are read out.

[0072] In step S7 , the distribution of responsibilities of the individual control valves SV1 to SV4 and the resulting controller in the electronic valve controller C2 is optimized based on the recorded and stored sensor data. Reference Signs List 10 hydraulic pumps 12 hydraulic motors (hydraulic consumers) 14 boxes 16 electromagnetic actuators 18 return spring 20 hydraulic cylinders (hydraulic consumers) 22 rod side 24 piston side 26 single-acting hydraulic cylinder 28 return spring 30 tilt cylinder 32 lift cylinders 34 telescopic cylinder 36 compensation cylinder 100 to 400 hydraulic systems C1 to C4 electronic valve controllers F-force LF1 to LF5 load cases M1 to M4 memory cells p-load PH1 to PH5 stages PS Pressure Sensor s Movement direction Processing steps S1 to S7 SV control valve SV1 first control valve SV2 second control valve SV3 third control valve SV4 fourth control valve SVA1 to SVA6 control valve units V1 to V4 quadrant control valve system

Claims

1. A method for forming a quadrant control valve system (V1, V2, V3, V4) of a hydraulic system (100, 200, 300, 400), in, The hydraulic system (100, 200, 300, 400) comprises at least one hydraulic consumer (12, 20, 30, 32, 34), which is controlled by the quadrant control valve system (V1, V2, V3, V4). wherein the quadrant control valve system (V1, V2, V3, V4) comprises a control valve arrangement (SVA1 to SVA6) for each hydraulic consumer (12, 20, 30, 32, 34) of the hydraulic system (100, 200, 300, 400) to be controlled, a control valve sensor system and an electronic valve controller (C1, C2, C3, C4), wherein each control valve arrangement (SVA1 to SVA6) comprises at least one control valve (SV, SV1, SV2, SV3, SV4), and The method comprises the following steps: - automatically performing a quadrant-based load condition analysis on the entire hydraulic system (100, 200, 300, 400) to be controlled based on demand data of the hydraulic system (100, 200, 300, 400); - synthesizing a hydraulic diagram for the quadrant control valve system (V1, V2, V3, V4) based on the quadrant-based load condition analysis, wherein the hydraulic diagram synthesis includes allocating responsibilities for each control valve (SV, SV1, SV2, SV3, SV4) in each control valve assembly (SVA1 to SVA6) based on the quadrant-based load condition analysis; - Synthesizing a controller for the quadrant control valve system (V1, V2, V3, V4) based on the synthesized loop diagram and responsibility allocation; - implementing the synthetic circuit diagram of said quadrant control valve system (V1, V2, V3, V4); and - implementing the synthesized controller in the electronic valve controller (C1, C2, C3, C4) of the quadrant control valve system (V1, V2, V3, V4).

2. The method according to claim 1, It is characterized by: The result of the automated quadrant-based load case analysis reflects all load cases (LF1 to LF5) occurring in the hydraulic system (100, 200, 300, 400) and all transitions between load cases (LF1 to LF5) for each hydraulic consumer (12, 20, 30, 32, 34) in each case within a four-quadrant domain, whereby each of the four quadrants represents a unique combination of positive or negative loads (p) and positive or negative movements (s) of the respective hydraulic consumer (12, 20, 30, 32, 34).

3. The method according to claim 1 or 2, It is characterized by: The hydraulic system (100, 200, 300, 400) comprises at least two hydraulic consumers (12, 20, 30, 32, 34) which are operated exclusively in sequence, wherein a load case analysis is automatically performed for each hydraulic consumer (12, 20, 30, 32, 34).

4. The method according to claim 1 or 2, It is characterized by: The hydraulic system (100, 200, 300, 400) comprises at least two hydraulic consumers (12, 20, 30, 32, 34) which are also operated in parallel, wherein a load case analysis is automatically performed for each hydraulic consumer (12, 20, 30, 32, 34) and an additional automatic load case analysis is performed for each case in which at least two hydraulic consumers (12, 20, 30, 32, 34) are operated in parallel.

5. The method according to any one of the preceding claims, It is characterized by: The circuit diagram synthesis is performed automatically and includes the automatic selection of the required number of control valves (SV, SV1, SV2, SV3, SV4) for each control valve arrangement (SVA1 to SVA6).

6. The method according to any one of the preceding claims, It is characterized by: Each control valve (SV, SV1, SV2, SV3, SV4) is an electromagnetically actuated two-position two-way control valve, and each control valve device (SVA1 to SVA6) preferably includes at least two control valves (SV, SV1, SV2, SV3, SV4), and particularly preferably includes four control valves (SV, SV1, SV2, SV3, SV4).

7. The method according to any one of the preceding claims, It is characterized by: The demand data of the hydraulic system (100, 200, 300, 400) includes measurement data and / or simulation data.

8. The method according to any one of the preceding claims, It is characterized by: The method also includes the following subsequent steps: - reading sensor data recorded and stored during operation of said quadrant control valve system (V1, V2, V3, V4), and - Optimization of the distribution of responsibilities of the individual control valves (SV, SV1, SV2, SV3, SV4) and the resulting controller based on the recorded and stored sensor data.

9. The method according to claim 8, It is characterized by: The subsequent reading and optimization steps can also be performed automatically during the operation of the quadrant control valve system (V1, V2, V3, V4).

10. The method according to any one of the preceding claims, It is characterized by: The automated steps of the method are computer-based using machine learning methods.

11. The method according to claim 10, It is characterized by: The machine learning methods preferably include convolutional neural networks (CNN), transformer models, recurrent neural networks (RNN) and / or knowledge-based methods.

12. A quadrant control valve system (V1, V2, V3, V4) for a hydraulic system (100, 200, 300, 400), in, The hydraulic system (100, 200, 300, 400) comprises at least one hydraulic consumer (12, 20, 30, 32, 34), which is controlled by the quadrant control valve system (V1, V2, V3, V4), wherein the quadrant control valve system (V1, V2, V3, V4) comprises a control valve arrangement (SVA1 to SVA6) for each hydraulic consumer (12, 20, 30, 32, 34) of the hydraulic system (100, 200, 300, 400) to be controlled, a control valve sensor system and an electronic valve controller (C1, C2, C3, C4), Therein, the quadrant control valve system (V1, V2, V3, V4) is formed according to the method of one of the preceding claims.

13. The quadrant control valve system (V1, V2, V3, V4) according to claim 12, It is characterized by: The quadrant control valve system (V1, V2, V3, V4) further comprises a memory unit (M1, M2, M3, M4) in which sensor data recorded by the control valve sensor system during operation of the quadrant control valve system (V1, V2, V3, V4) are stored.

14. A hydraulic system (100, 200, 300, 400) comprising at least one hydraulic consumer (12, 20, 30, 32, 34) and a quadrant control valve system (V1, V2, V3, V4) according to claim 12 or 13.

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