Method of forming a quadrant control valve system, a quadrant control valve system and a 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 includes at least one control valve assembly SVA2, which includes at least one control valve SV1, SV2, SV3, SV4, and includes an electronic valve controller C2 and a control valve sensor system. The method includes the following steps: automatically performing a quadrant-based load case analysis, automatically performing a circuit diagram synthesis, automatically performing a controller synthesis, and implementing the synthesized circuit diagram and implementing the synthesized controller.

Description

Technical Field

[0001] This invention relates to a method for forming a quadrant control valve system, the quadrant control valve system, and a hydraulic system. Background Technology

[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 electrohydraulically actuated control valve. The electronic valve controller typically includes a controller for the control valve device, thereby implementing the controller in software within the electronic valve controller. A universal 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, volumetric flow sensors, temperature sensors, or similar sensors) distributed throughout the hydraulic system and the control valve system, configured as separate components.

[0003] These control valve systems are specifically configured for particular applications (i.e., the hydraulic system or hydraulic consumer to be controlled). The implementation of such control valve systems involves significant independent research and development work, which increases as the complexity of the hydraulic systems to be controlled and the requirements for the accuracy and stability of the controlled operating points continue to rise.

[0004] In addition, there is a growing demand for functionalities such as anomaly detection, condition monitoring, or predictive maintenance, requiring control valve systems that can adaptively implement these functions. Summary of the Invention

[0005] Against this background, one object of the present invention is 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 device 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 device includes at least one control valve. The method includes the following steps:

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

[0008] - Based on quadrant-based load condition analysis, hydraulic diagram synthesis is performed on the quadrant-based control valve system, wherein the hydraulic diagram synthesis includes assigning responsibilities to each control valve of each control valve assembly based on quadrant-based load condition analysis.

[0009] -Based on the synthesized hydraulic diagram and duty assignment, the controller of the limit control valve system is synthesized;

[0010] - This synthetic hydraulic diagram implements the quadrant control valve system; and

[0011] - Implement the synthesized controller in the electronic valve controller of the quadrant control valve system.

[0012] Preferably, hydraulic diagram synthesis, duty assignment, and / or controller synthesis are also performed automatically.

[0013] A control valve sensor system primarily comprises 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, which is part of the control valve sensor system. A fluid sensor refers to any type of sensor used to measure hydraulic fluid parameters related 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 electronic valve control.

[0015] Quadrant control valve systems are control valve systems based on quadrant-based load condition analysis.

[0016] Quadrant-based load case analysis assigns all load cases occurring in the hydraulic system to the four-quadrant domains of each hydraulic consumer. Each four-quadrant domain defines the possible motion and load direction of a single hydraulic consumer. Therefore, based on the actual load cases occurring at each hydraulic consumer, operating points actually exist in a different number of quadrants within the corresponding four-quadrant domain for that specific load case. Through this quadrant-based load case analysis, conclusions can be drawn regarding the required quadrant control valve system for the hydraulic system under control. Quadrant-based load case analysis can be automated, for example, using lookup tables, libraries, or machine learning methods.

[0017] In this example, a quadrant control valve system refers to a control valve system in which, depending on the requirements of the hydraulic consumer to be controlled, the control valve device for the hydraulic consumer includes one, two, or four control valves. This quadrant control valve system offers a high degree of freedom in its technical design, depending on the actual number of control valves required, and also offers a high degree of freedom in individually controlling and regulating each of the four control valves. This allows for the implementation of extremely efficient control valve systems, while also enabling highly flexible implementation of complex control and regulation requirements.

[0018] In this example, loop diagram synthesis refers to creating a hydraulic loop diagram (preferably automated) for a quadrant control valve system. The assignment of responsibilities (preferably automated) to each control valve also means assigning (preferably automated) specific responsibilities (e.g., fully open, fully closed, regulating) to each control valve based on automated quadrant-based load condition analysis, to accommodate each occurring load condition. Both automatic loop diagram synthesis and automatic responsibility assignment can be performed, for example, based on lookup tables or libraries (where corresponding combinations of load conditions, loop diagrams, and responsibilities are stored) or using machine learning methods.

[0019] Controller synthesis refers to 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 duty assignment for each control valve, a computer-based model structure can be used to identify the behavior of the entire hydraulic system and extract the system equations. The corresponding controller can then be automatically synthesized based on the extracted system equations. For example, ANARX (Additive Nonlinear Autoregressive Exogenous Model), LSTM (Long Short-Term Memory), ARMA (Autoregressive Moving Average), and / or RNN (Recurrent Neural Network) structures can be used as computer-based model structures.

[0020] The implementation of the synthetic loop diagram is based on the hardware implementation of the quadrant control valve system.

[0021] The implementation of a synthetic controller refers to embedding the synthetic controller into the electronic valve controller in software. The electronic valve controller may include a central electronic valve controller for all control valve devices in a quadrant control valve system, or it may include 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, the control valve device can simultaneously control two or more hydraulic consumables (for example, in the case of a lifting device with four lifting cylinders, which are controlled by a shared control valve device). However, each hydraulic consumable to be controlled is assigned a control valve device to control the corresponding hydraulic consumable.

[0023] The method according to the invention demonstrates a holistic approach to implementing a quadrant control valve system in a manner that is as automated as possible.

[0024] Preferably, the results of the automated quadrant-based load condition analysis reflect all load conditions occurring in the hydraulic system and all transitions between load conditions for each hydraulic consumer in the four-quadrant domain. This allows each of the four quadrants in the dual-axis coordinate system to reflect the specific combination of positive loads or loads with positive or negative motions for the corresponding hydraulic consumer. Positive loads and loads are, for example, pushing and pulling loads. Positive and negative motions include, for example, the extension and retraction of hydraulic cylinders or the rotation of hydraulic motors in the first and second directions. In this way, all load conditions occurring for each hydraulic consumer and all transitions between load conditions can be reflected in the four-quadrant domain. Based on this, the required number of control valves for each hydraulic consumer and the responsibilities that each control valve must perform under each load condition can be automatically selected.

[0025] If the hydraulic system includes at least two hydraulic consumers that operate sequentially and exclusively, it is preferable to automatically perform load condition analysis for each hydraulic consumer separately. Alternatively, if the hydraulic system includes at least two hydraulic consumers that also operate in parallel, it is preferable to automatically perform load condition analysis for each hydraulic consumer separately, and also automatically perform load condition analysis for each case where at least two hydraulic consumers operate in parallel. If the hydraulic consumers operate in parallel, energy can be recovered by using a dedicated loop 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 control can be used to operate the other hydraulic consumer.

[0026] Preferably, the hydraulic diagram synthesis is performed automatically and includes automatically selecting 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 also some simple applications where not all four control valves are needed, it is preferable to select the actual number of control valves required for each control valve assembly as part of the automatic loop diagram synthesis. This reduces manufacturing costs and system complexity.

[0027] Furthermore, each control valve is preferably an electromagnetically (or electro-hydraulic) actuated two-position two-way control valve, which is preferably configured as a valve spool. Each control valve assembly preferably includes at least two control valves, and more particularly preferably includes four control valves. Specifically, each control valve is a proportionally electromagnetically actuated two-position two-way control valve. Using purely electromagnetically actuated two-position two-way control valves simplifies the system architecture and allows for flexible use of standardized components. By using four electromagnetically actuated two-position two-way control valves in a single control valve assembly, the aforementioned control valve assembly can control all conceivable hydraulic consumables and precisely and reliably adjust the desired operating point with high flexibility.

[0028] Preferably, the hydraulic system requirements data includes measurement and / or simulation data of 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 requirements data. This means that even complex customer specifications can be automatically implemented in an established quadrant control valve system.

[0029] Preferably, the method further includes the following follow-up steps:

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

[0031] - Optimize the allocation of responsibilities among individual control valves and synthetic controllers based on recorded and stored sensor data.

[0032] Optimization is performed by reading sensor data recorded and stored during the operation of the quadrant control valve system. This optimization is based on actual measurement data from the resulting quadrant control valve system, and therefore on a database that is as accurate and realistic as possible. Thus, a more comprehensive database can be obtained during the optimization process, especially for controller synthesis, leading to better results. Alternatively, the optimization process can also be based on modified or added requirements data from the hydraulic system. This allows the resulting quadrant control valve system to be subsequently adjusted according to changing environmental conditions, wear indicators, or even changed customer requirements as part of an update.

[0033] Furthermore, it would be beneficial if subsequent reading and optimization steps could also be performed automatically during the operation of the quadrant control valve system. Preferably, these subsequent steps are performed automatically by the valve controller of the quadrant control valve system, either continuously or at predetermined intervals. This creates a fully self-learning, adaptive quadrant control valve system capable of independently adjusting itself (especially the implemented synthetic controller) based on changing environmental conditions and / or signs of wear.

[0034] It is preferable if the automation steps of the method are performed computer-based using machine learning methods. Preferred machine learning methods include convolutional neural networks (CNNs), transformer models, recurrent neural networks (RNNs), and / or knowledge-based methods. Knowledge-based methods can also be referred to as "rule-based systems" or "expert systems." These constitute a subfield of artificial intelligence / machine learning. In knowledge-based methods, action suggestions and / or conclusions are derived from an existing knowledge base, typically created and maintained by experts. A simple example is a system based on fixed rules, which uses "if-then" queries to influence decisions. Another example is a decision tree. Compared to neural networks, decision-making using knowledge-based methods is relatively transparent and easy to understand. In this context, knowledge-based methods can be used, for example, for automated loop diagram synthesis. For instance, many different versions of (partial) loop diagrams and their corresponding responsibilities for each control valve are stored in a library / lookup table. Automated loop diagram synthesis is then performed based on fixed rules and given demand data.

[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 device for each hydraulic consumer of the hydraulic system to be controlled, a control valve sensor system, and an electronic valve controller. The quadrant control valve system is formed according to the method described above. 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 also includes a memory unit to store sensor data recorded by the control valve sensor system during the operation of the quadrant control valve system. This allows subsequent optimization steps to be implemented simply and automatically during operation, or as part of a quadrant control valve system update process. Attached Figure Description

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

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

[0040] Figure 2 According to Figure 1 Exemplary load conditions of the first exemplary embodiment;

[0041] Figure 3 for Figure 2The four quadrants of the load condition shown;

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

[0043] Figure 5 According to Figure 4 Exemplary load conditions of the second exemplary embodiment;

[0044] Figure 6 for Figure 5 The four quadrants of the load condition shown;

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

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

[0047] Figure 9 This is a simplified block diagram of the method according to the present invention. Detailed Implementation

[0048] Figure 1 A schematic circuit diagram of a hydraulic system 100 according to a first exemplary embodiment is shown. The hydraulic system 100 includes a hydraulic pump 10, a hydraulic consumer 12 configured as a hydraulic motor in this exemplary embodiment, a quadrant control valve system V1 with control valve devices SVA1 (including control valve SV), and a housing 14. Figure 1 As shown, the control valve SV in this example is a proportionally electromagnetically actuated two-position two-way control valve, which includes an electromagnetic actuator 16 and a return spring 18. The return spring biases the control valve SV to its initial closed position. Furthermore, two pressure sensors PS are integrated into the control valve SV. Figure 1 Only one of them is shown schematically. 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 a configuration of a hydraulic cable winch, wherein a hydraulic motor 12 actuates the cable winch and a quadrant control valve system V1 controls the flow rate from the hydraulic pump 10 through the hydraulic motor 12.

[0050] Figure 2 The load conditions occurring in the hydraulic system 100 and their transitions in three stages PH1, PH2, and PH3 are illustrated in the figure. The pressures upstream and downstream of the hydraulic motor 12 (p) are plotted in the figure. A and p BThe change of ) with time t. The direction of motion s of hydraulic motor 12 and the force F acting on the direction of motion s are shown in the three stages PH1, PH2 and PH3.

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

[0052] Figure 2 The three stages PH1, PH2, and PH3 correspond to three load conditions. In the first load condition LF1 and the third load condition LF3 of stages PH1 and PH2, the hydraulic motor 12 rotates along the direction of motion s without applying any load. Therefore, load conditions LF1 and LF3 are the same in this case. In the second load condition LF2 of stage PH2, the hydraulic motor 12 rotates along the direction of motion s and pulls a load, represented by force F. Figure 2 The p / t graph clearly shows the pressure p upstream and downstream of hydraulic motor 12 during each stage PH1 to PH3. A and p B The differences between them, and the transition of the pressure curves between PH1 and PH3 in each stage.

[0053] Figure 3 Displayed in the form of four quadrants Figure 2 The load conditions LF1 to LF3 are shown in the diagram. The four-quadrant domain consists of quadrant I (QI), quadrant II (QII), quadrant III (QIII), and quadrant IV (QIV). The direction of motion s of the hydraulic motor 12 is plotted on the horizontal axis of the four-quadrant domain. The load p acting on the hydraulic motor 12 is plotted on the vertical axis.

[0054] like Figure 3 As shown, the first load condition LF1 and the third load condition LF3 correspond to points between the second quadrant QII and the third quadrant QIII on the horizontal axis. In this case, no load p is applied, but the hydraulic motor 12 rotates in such a way that the cable winch is pulled in (negative motion direction s). On the other hand, the second load condition LF2 corresponds to a point in the third quadrant QIII. At this time, the hydraulic motor 12 rotates in such a way that the cable winch is pulled in, and at the same time, the force F also pulls the cable winch (load p).

[0055] like Figure 3 As shown, in the four-quadrant domain of the three load conditions LF1 to LF3 of the hydraulic system 100 representing the first exemplary embodiment (cable winch), there is no transition between each quadrant Q1 to QIV at the transition between each load condition LF1 to LF3. Therefore, according to Figure 3 The four-quadrant domain of the hydraulic system 100 shown can, in principle, be directly derived. Figure 1The diagram shows a quadrant control valve system V1 with 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 includes a hydraulic pump (not shown), a hydraulic cylinder 20 (hydraulic consumer), a quadrant control valve system V2 with a control valve device SVA2, and a housing (not shown). The control valve device SVA2 includes 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, control valves SV1 to SV4 are the same as control valve SV in the first embodiment, and therefore will not be described again here. Furthermore, 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 hydraulic fluid from the pump (see...) Figure 4 p in P The hydraulic fluid 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 into 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 the lifting device of the forklift. Figure 5 The corresponding load conditions LF1 to LF5 are displayed. Figure 5 It also shows the pressure p A (This refers to the pressure on piston side 24) and p B (The pressure on rod side 22 here) is shown in the curves for each load condition across five stages PH1 to PH5. The first load condition LF1 and the third load condition LF3 correspond to the extension of hydraulic cylinder 20 under no-load conditions. The second load condition LF2 corresponds to the extension of hydraulic cylinder 20 under load (see...). Figure 5 The force F in the cylinder is opposite to the direction of motion s. The fourth load condition LF4 corresponds to the retraction of hydraulic cylinder 20 when it is unloaded. The fifth load condition LF5 corresponds to the retraction of hydraulic cylinder 20 when it is under load (see...). Figure 5 The force F in the direction of motion s).

[0059] Figure 6 It is displayed again in the form of a four-quadrant domain. Figure 5The hydraulic system 200 is shown with load conditions LF1 to LF5. 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, 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, load p).

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

[0061] Figure 7 An exemplary circuit diagram of a hydraulic system 300 according to a third exemplary embodiment is shown. This system has a quadrant control valve system V3 with a control valve device SVA3, which includes a first control valve SV1 and a second control valve SV2, a hydraulic pump 10, a single-acting hydraulic cylinder 26 that automatically resets via a return spring 28, and a housing 14. The hydraulic system 300 corresponds, for example, to a controller for the variable cylinder of an axial piston variable pump. Figure 7 As shown, the control valve device SVA3 of the quadrant control valve system V3 requires only 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, such as... Figure 7 As shown schematically.

[0062] Figure 8An exemplary circuit diagram of a hydraulic system 400 according to a fourth exemplary embodiment is shown. This system includes a quadrant control valve system V4, a hydraulic pump 10, a tank 14, and multiple hydraulic cylinders 30, 32, 34, and 36 as hydraulic consumables. Specifically, the hydraulic system 400 corresponds to a telescopic forklift configuration having a tilt cylinder 30, a lifting cylinder 32, a telescopic cylinder 34, and a compensating cylinder 36. In this case, the tilt cylinder 30, lifting cylinder 32, and telescopic cylinder 34 represent hydraulic consumables to be controlled in the hydraulic system 400, which are controlled by control valve devices SVA4, SVA5, and SVA6 of the quadrant control valve system V4, respectively. Each of the control valve devices SVA4, SVA5, and SVA6 includes four control valves. For clarity, Figure 8 These valves are not detailed in the specifications. The quadrant control valve system V4 also includes an electronic valve controller C4 and a memory unit M4, such as... Figure 8 As shown schematically. For clarity, the connections between the electronic valve controller C4 and other components of the quadrant control valve system V4 are not shown in the diagram. 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 is now described. As an example, this method can be applied to all quadrant control valve systems V1 to V4 of the aforementioned hydraulic systems 100 to 400. Hydraulic systems 100 to 400 are mainly 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... Figures 4 to 6 The exemplary embodiment shown illustrates a quadrant control valve system V2 for a hydraulic system 200.

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

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

[0066] In step S2, based on the quadrant-based load condition analysis, the hydraulic 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-based load condition analysis. Specifically, Figure 5 In the schematically illustrated load conditions LF1 to LF5, the allocation of responsibilities for control valves SV1 to SV4 is as follows: When hydraulic cylinder 20 extends (load conditions LF1 to LF3), the third control valve SV3 controls the supply of hydraulic fluid from the pump to the piston side 24 of hydraulic cylinder 20. The second control valve SV2 is fully open under load conditions LF1 to LF3 to relieve pressure on the rod side 22 along the direction of the housing. On the other hand, the first control valve SV1 and the fourth control valve SV4 are fully closed during the extension of hydraulic cylinder (load conditions LF1 to LF3). When hydraulic cylinder retracts (load conditions LF4 and LF5), the pressure load generated under load condition LF4 may further accelerate the downward movement of hydraulic cylinder 20. To prevent this, the retraction of hydraulic cylinder 20 is controlled by the fourth control valve SV4 according to load conditions LF4 and LF5. When hydraulic cylinder 20 retracts, the first control valve SV1, which controls the flow of fluid from the pump to the rod side 22 of hydraulic cylinder, is fully opened. The speed of hydraulic cylinder 20 is controlled solely by the opening degree of the fourth control valve SV4. When the hydraulic cylinder 20 retracts, the second control valve SV2 and the third control valve SV3 are completely closed.

[0067] In step S3, based on the synthesized loop diagram and responsibility allocation in step S2, the object limit control valve system V2 automatically performs controller synthesis.

[0068] In step S4, according to Figure 4 The synthetic loop diagram of 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] During the operation of the quadrant control valve system V2 in the hydraulic system 200, the memory unit M2 stores all sensor data recorded by the control valve sensors of the quadrant control valve system V2. Specifically, this data is the 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 is read out.

[0072] In step S7, the allocation of responsibilities among the individual control valves SV1 to SV4 and the synthetic controller in the electronic valve controller C2 is optimized based on the recorded and stored sensor data.

[0073] List of reference numerals

[0074] 10 Hydraulic pumps

[0075] 12. Hydraulic motor (hydraulic consumer)

[0076] 14 boxes

[0077] 16 Electromagnetic actuators

[0078] 18. Return spring

[0079] 20. Hydraulic cylinder (hydraulic consumable)

[0080] 22-pole side

[0081] 24 Piston side

[0082] 26 Single-acting hydraulic cylinder

[0083] 28. Return spring

[0084] 30 Tilting Cylinder

[0085] 32 Lifting Cylinder

[0086] 34 Telescopic Cylinder

[0087] 36 Compensation cylinder

[0088] 100 to 400 hydraulic systems

[0089] C1 to C4 electronic valve controllers

[0090] F force

[0091] LF1 to LF5 load conditions

[0092] M1 to M4 memory units

[0093] p load

[0094] pH1 to pH5 stages

[0095] PS pressure sensor

[0096] s direction of motion

[0097] Processing steps S1 to S7

[0098] SV control valve

[0099] SV1 First Control Valve

[0100] SV2 Second Control Valve

[0101] SV3 Third Control Valve

[0102] SV4 Fourth Control Valve

[0103] SVA1 to SVA6 control valve devices

[0104] V1 to V4 Quadrant Control Valve System

Claims

1. A method for forming 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) includes at least one hydraulic consumer (12, 20, 30, 32, 34), which is controlled by the quadrant control valve system (V1, V2, V3, V4). The quadrant control valve system (V1, V2, V3, V4) includes control valve devices (SVA1 to SVA6) for each hydraulic consumer (12, 20, 30, 32, 34) of the hydraulic system to be controlled (100, 200, 300, 400), a control valve sensor system, and electronic valve controllers (C1, C2, C3, C4). Each control valve device (SVA1 to SVA6) includes at least one control valve (SV, SV1, SV2, SV3, SV4). The method includes the following steps: -Based on the demand data of the hydraulic systems (100, 200, 300, 400), automatically perform quadrant-based load condition analysis on the entire hydraulic system to be controlled (100, 200, 300, 400); - Based on quadrant-based load condition analysis, hydraulic diagram synthesis is performed on the quadrant control valve system (V1, V2, V3, V4), wherein the hydraulic diagram synthesis includes assigning responsibilities to each control valve (SV, SV1, SV2, SV3, SV4) in each control valve assembly (SVA1 to SVA6) based on quadrant-based load condition analysis; -Based on the synthesized loop diagram and duty assignment, perform controller synthesis for the quadrant control valve system (V1, V2, V3, V4); - The synthetic loop diagram for implementing the quadrant control valve system (V1, V2, V3, V4); and - The synthesized controller is implemented in the electronic valve controllers (C1, C2, C3, C4) of the quadrant control valve system (V1, V2, V3, V4).

2. The method according to claim 1, Its features are, The results of the automatically performed quadrant-based load case analysis reflect 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 of the four quadrants, whereby each of the four quadrants represents the unique combination of positive load or load (p) and positive motion or negative motion (s) for the corresponding hydraulic consumer (12, 20, 30, 32, 34).

3. The method according to claim 1 or 2, Its features are, The hydraulic system (100, 200, 300, 400) includes at least two hydraulic consumers (12, 20, 30, 32, 34) that operate sequentially in an exclusive manner, wherein load condition analysis is automatically performed for each hydraulic consumer (12, 20, 30, 32, 34).

4. The method according to claim 1 or 2, Its features are, The hydraulic system (100, 200, 300, 400) includes at least two additional hydraulic consumers (12, 20, 30, 32, 34) that operate in parallel. For each hydraulic consumer (12, 20, 30, 32, 34), a load condition analysis is automatically performed. For each case where at least two hydraulic consumers (12, 20, 30, 32, 34) operate in parallel, an additional automatic load condition analysis is performed.

5. The method according to claim 1 or 2, Its features are, 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 unit (SVA1 to SVA6).

6. The method according to claim 1 or 2, Its features are, Each control valve (SV, SV1, SV2, SV3, SV4) is an electromagnetically actuated two-position two-way control valve, and each control valve unit (SVA1 to SVA6) includes at least two control valves (SV, SV1, SV2, SV3, SV4).

7. The method according to claim 6, Its features are, Each control valve unit (SVA1 to SVA6) includes four control valves (SV, SV1, SV2, SV3, SV4).

8. The method according to claim 1 or 2, Its features are, The requirements data for hydraulic systems (100, 200, 300, 400) include measurement data and / or simulation data.

9. The method according to claim 1 or 2, Its features are, The method also includes the following follow-up steps: - Read the sensor data recorded and stored during the operation of the quadrant control valve system (V1, V2, V3, V4), and - Optimize the allocation of responsibilities among individual control valves (SV, SV1, SV2, SV3, SV4) and the synthetic controller based on the recorded and stored sensor data.

10. The method according to claim 9, Its features are, Subsequent reading and optimization steps can also be performed automatically during the operation of the quadrant control valve system (V1, V2, V3, V4).

11. The method according to claim 1 or 2, Its features are, The automation steps of this method are performed computer-based using machine learning methods.

12. The method according to claim 11, Its features are, The machine learning methods include convolutional neural networks (CNN), transformer models, recurrent neural networks (RNN), and / or knowledge-based methods.

13. A quadrant control valve system (V1, V2, V3, V4) for hydraulic systems (100, 200, 300, 400). in, The hydraulic system (100, 200, 300, 400) includes at least one hydraulic consumer (12, 20, 30, 32, 34), which is controlled by the quadrant control valve system (V1, V2, V3, V4). The quadrant control valve system (V1, V2, V3, V4) includes control valve devices (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 electronic valve controllers (C1, C2, C3, C4). The quadrant control valve system (V1, V2, V3, V4) is formed according to the method described in any one of the preceding claims.

14. The quadrant control valve system (V1, V2, V3, V4) according to claim 13. Its features are, The quadrant control valve system (V1, V2, V3, V4) also includes memory units (M1, M2, M3, M4) that store sensor data recorded by the control valve sensor system during the operation of the quadrant control valve system (V1, V2, V3, V4).

15. 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 13 or 14.

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