Control device for hydraulic system having multiple receivers operating in parallel

Abstract

To provide a control system of a hydraulic device having a plurality of receivers actuated in parallel.SOLUTION: A control system includes: a control mechanism Ji as a control mechanism for regulating a control position αj of each of receivers Ri to which a fuel is supplied through a pump 1 of which a pressure and a flow rate are regulated by a regulator 6 with or without flow rate sharing; and a distributor as a distributor Di associated with each receiver, and switched by a switch associated with each receiver. When at least two receivers must be actuated, a counter 26 supplies a control signal SX to the switch PTi to switch them to a flow rate sharing mode. Each control mechanism generates a pressure value Pi and a flow rate value Qi in order to generate a flow rate regulation signal SQC corresponding to the sum of the total flow rates Qi(αj) and a pressure signal SPmax corresponding to a highest pressure Pmax among all of the pressures Pi(αj), in the flow rate sharing mode.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a control device for a hydraulic system having a plurality of receivers operating in parallel, the control device comprising: - a receiver fed by a pump whose pressure and flow are regulated by a regulator sharing the flow rate; a distributor coupled to each of the receivers and downstream of the pump for supplying fuel to each of the receivers in a controlled manner in response to a control position of the control mechanism; The present invention relates to a control device comprising: [Background technology]

[0002] Background technology There is known a hydraulic system that has multiple hydraulic functions that are supplied with fuel via a pump and is installed in a construction machine such as an excavator, and that can operate multiple pieces of equipment simultaneously. Such a hydraulic system is composed of a main hydraulic circuit including a control pump that is driven by a motor and supplies fuel to branch circuits, which are connected to each actuator (receptacle) via a distributor having a spool that is operated by a control signal based on the movement or position of a lever.

[0003] Thus, the movement or position of the control mechanism by the operator is sensed and used to generate an electrical or hydraulic control signal which operates a distributor spool associated with that equipment or function.

[0004] At the outlet of the pump and downstream of the distributor, two pressure sensors provide two pressure signals to a compensator which manages the operation of the pump, so that the compensator takes into account the activity of the various receptors.

[0005] Generally, each lever transmits a steering pressure signal corresponding to the angle of movement of the lever. This steering pressure acts directly on a distributor spool that is connected to an actuator. The pump is managed by a flow regulator.

[0006] If the flow rate at a given pressure is sufficient, it will be distributed among the actuators so that they can operate at the desired speed.

[0007] However, if the flow rate is insufficient, dispersion will not occur and the actuator speed will be lost control since the flow will preferentially flow to the least loaded actuators.

[0008] This drawback is avoided by compensators built into the fuel supply lines of each actuator. These compensators, which sense the pressure in the fuel supply lines of each actuator, are connected directly to a selector, which sends a signal of the highest pressure to the regulator of the pump. The pressure difference created by the pump disappears and the compensator steps in and effectively cuts off the fuel supply to the actuator.

[0009] Although the speeds are reduced, the ratio of the speeds of the different actuators is maintained.

[0010] As a result, the system requires complex hydraulics, and in particular hydromechanical compensators, to balance and match the flow sharing of the actuators and the pumps that fuel the equipment. Summary of the Invention [Problem to be solved by the invention]

[0011] Object of the invention The present invention aims to provide a control device for a hydraulic system having a number of receptors operating in parallel and with varying operating characteristics in order to simplify the control means and make the control means more reliable and accurate. [Means for solving the problem]

[0012] Disclosure and Advantages of the Invention To this end, the present invention provides a method for detecting the presence of multiple receptors (R i 1. A control system for a hydraulic device having a - Each receptor (R i ) control position (α j ), in which the receiver is supplied with fuel via a pump (1) whose pressure (P) and flow rate (Q) are regulated by a regulator (6) with or without flow sharing, i )and, - Each receptor (R i ) and the control mechanism (J i ) control position (α j A distributor (D) that supplies fuel to the receiver according to the i )and, In a control system comprising: The control system includes: - Each receptor (R i ) and a distributor (D) to supply fuel to the receiver with or without flow sharing. i ) to switch the operation mode (PT i )and, - At least two receptors (R i ) needs to be in operation, or to switch to flow sharing mode when one receiver (R i In order to switch to a mode in which the flow rate is not shared when only the PT1 and PT2 are operating, the control signal (SX) of the operation mode is i A counter (26) for the flow values ​​provided (i=1...n); Equipped with Each control mechanism (J i ) is the control position (α j ) according to the pressure value (P i (α j )) and flow rate value (Q i (α j )), so that in flow sharing mode: - To control the pump (1), the total flow rate (Q i (α j )) and the flow control signal (SQC) corresponding to the sum of all pressures (P i (α j The highest pressure (P max) corresponding to the pressure signal (SP max ) and - Control position (α j ) at that time (t) according to the flow rate (Q i (α j )) at that time (t) according to each distributor (D i ) to adjust The object of the present invention is to provide a control system characterized by the above.

[0013] The control system therefore includes all active branches of the hydraulic system, and automatically incorporates inactive branches, since they provide a demand signal with zero pressure and flow and do not participate in either the flow accumulation or maximum pressure selection.

[0014] The distribution of the pump flow is achieved without vibrations of the operation of the various equipment, while allowing the most heavily loaded equipment to operate under favorable conditions, even if its speed is slower than the rated operating speed.

[0015] According to a particularly advantageous feature, the adjustment of each distributor is likewise effected according to the pressure currently demanded by the control mechanism associated with that distributor.

[0016] According to an advantageous feature, the control mechanism is combined with a conversion unit containing a table of pressure and flow values ​​associated with each control position of the control mechanism of the receiver, these values ​​being pressures and flows measured for the receiver and obtained separately for the control positions.

[0017] According to another advantageous feature, in the flow sharing mode, the flow rate requested for the adjustment position is combined with a correction factor depending on the pressure requested to form a distributor control signal that regulates the fuel supply to the receiver.

[0018] According to another advantageous feature, the distributor is an electrohydraulic distributor controlled by a base intensity, this base intensity depending on the flow rate requested from the distributor considered alone without flow rate sharing, the control intensity of the single distributor controlling the passage cross section between the closed state and the fully open state depending on the control position, in the flow rate sharing mode the control signal is an intensity multiplied by a correction factor.

[0019] According to another advantageous feature, the pump is controlled by a pressure signal which is the maximum of the pressures demanded from the control mechanism and a cumulative flow signal which is the accumulation of the demanded flows.

[0020] Thus, all branches are subject to this control system because, as previously mentioned, an inactive branch requires zero flow and does not participate in the accumulation of flow.

[0021] According to another advantageous feature, each receptor (R i ) correction factor (CR i ) is the common parameter (P max ,N,No) and the required pressure (P i (α j )) depending on

number

[0022] Finally, the present invention generally relates to a control system for a hydraulic system having a plurality of receivers operating in parallel to share pump flow, comprising: - a pump driven by a motor rotating at a current speed and regulated by a regulator receiving a pressure signal and a flow signal; - branches, each branch having its own means for connecting a control mechanism to a hydraulic receptor of the equipment which it controls; - a conversion unit connected to the control mechanism for receiving a control position of the control mechanism and for generating a requested flow rate and a requested pressure; a mode selector coupled to each of the receptors and switching the distributor to fuel the receptor with or without flow sharing; - a control signal for the operation mode is sent to a selector (PT) to switch to a flow sharing mode when at least two receivers are required to be in operation, or to a non-flow sharing mode when only one receiver is in operation; i A counter for the flow rate values ​​provided to each of the - a processing module for forming a correction factor for the requested flow rate and then forming a control signal for the distributor in the flow sharing mode; - a summer for receiving the requested flow rates and summing the flow rates to form a flow control signal that is an accumulation of the flow rates; - a maximum pressure selector for receiving the requested pressure and for holding the requested maximum pressure; - a speed sensor of the motor; a table containing the receiver pressures and the minimum rotation speeds obtained separately for the pump motor rotating at the minimum speed; Equipped with - the cumulative flow signal and the maximum pressure signal are applied to the pump regulator; - the signal is applied to each processing module, - the signal is applied to a processing module, - Processing Module (MT i ) is calculated by the correction signal (CR i ) is formed,

number

[0023] According to an advantageous feature, in the flow sharing mode, the distributor (D i ) control signal (SCD i (α j )) is the correction coefficient (CR i (α j )) multiplied by the control mechanism (J i ) control position (α j Distributor (D) is considered separately without sharing the flow rate according to i ) control strength (I i (α j )) and SCD i =CR i I i. (α j ) It is.

[0024] The invention will be explained in more detail below using an embodiment of the control device shown in the attached drawings. [Brief description of the drawings]

[0025] [Figure 1] FIG. 1 is a general view of a control system in combination with a hydraulic system having multiple receivers that can operate in parallel. [Diagram 2] FIG. 2 is a simplified diagram of FIG. [Diagram 3]FIG. 3 is an exploded partial view of the view in FIG. 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Description of the embodiments Figure 1 shows the hydraulic actuator (receptor) R i (i=1...4) of an embodiment of a hydraulic control device 100, the actuator being a mechanical device E including a hydraulic cylinder and / or a hydraulic motor, which is fuelled by a pump 1. i , the pump 1 is controlled by a pressure and flow regulator 6, which sets the pressure and flow operating points of the pump 1 of the hydraulic circuit thus formed by the various equipment.

[0027] The control device 100 controls (four) parallel branch lines BR i (i=1...4), each branch line is connected to a receptor R i It is connected to the branch line BR. i are fueled in parallel through pump 1, which shares the flow rate between the branches that are operating at each time point (t), and the branches B i If only one of them is running, they do not share flow.

[0028] Figure 1 shows four branch lines BR i FIG. 2 shows an excerpt of the device, which has n branch lines BR i In the general case of a system with (i=1...n), a representative branch line BR i The details of the control of the operation mode in which the flow rate is shared or the operation mode in which the flow rate is not shared will be described in detail with reference to FIG.

[0029] Equipment E iIn the case of an excavator, for example, these include a cylinder 8 that operates the boom, a cylinder 9 that operates the arm held by the boom, and a cylinder 10 that operates the bucket at the end of the arm, as well as a hydraulic motor 11 that controls the operation of the machine's rotating body.

[0030] These equipment E i Functions i The control of the related control mechanism J i This is done using one piece of equipment E i There are multiple features F i For example, a machine that lifts the arm of a shovel can not only perform the lifting of the arm with a bucket filled, but can also use the bucket as a compression mechanism, and can repeatedly operate the lifting and lowering using the same control mechanism, and simply add this new function F to give this other function an operating characteristic (speed instead of lifting force). i can be switched to.

[0031] The excavator arm can accept a variety of equipment, so the arm's functions are diverse and the same equipment E i The pressure P and flow rate D required are appropriate for each function.

[0032] According to an embodiment of the present invention, the receptor R i and distributor D which supplies fuel to pump 1 i The mechanism or device is a hydraulic mechanism or device through a normal device, and the mechanism or device is a control mechanism by an electric signal instead of a mechanical mechanism or device. i is controlled by.

[0033] Operator-operated control mechanism J i is a lever, and sometimes a pedal or slider, that allows multiple controls to perform multiple functions simultaneously depending on variable conditions (pressure and flow). i Position to put (α j ) is the pressure P i (α j ) and flow rate Qi (α j ) corresponding control signal and distributor D i The control signal is generated by the distributor D i and the position of the control mechanism (α j ) depends on the table T i Intensity according to I i (α j ) signal.

[0034] Control mechanism J i can move from a neutral position or can perform movements on either side of the neutral position. The two ranges of movement are not necessarily symmetrical and generally correspond to opposite movements, e.g., the raising and lowering of a shovel boom, which do not have equivalent speed (flow) and pressure (load) characteristics.

[0035] Rotating control mechanism J i Here, the lever, which is an example of the lever, is rotated to a control position (α j ) sensor, which includes distributor D i Controlling the distributor D i In order to regulate the flow rate of fuel supplied to the i The pressure P is the value required from i (α j ) and flow rate Q i (α j ) and intensity I i (α j ) is associated with the value (α j ,P i ,Q i ,I i ) are related by the corresponding table T i is instructed.

[0036] Minimum speed No and pressure Po i is the branch line BR i Base table associated with To i This table is the conversion unit UC i Table T ican be merged with.

[0037] Pressure P i (α j ) and flow rate Q i (α j ) is the control mechanism J i Equipment E connected to i and receptor R i These values ​​are the characteristics specific to each equipment or to a series or type of the same equipment, and the functions it performs. i It depends on.

[0038] Value P i (α j ) and Q i (α j ) is the control mechanism J i The control position (α j ) when placed in equipment E i Corresponds to the operating states (8...11).

[0039] Control mechanism J i Position (α j ) conversion unit UC i is the required pressure P i (α j ) and the required flow rate Q i (α j ) and strength I i (α j ) is represented by the correspondence table T i These tables are based on the receptor R i It is made according to the characteristics of the receptor R i The results of experiments and research into the operation of the tables are not necessarily symmetrical on the positive or negative side with respect to the neutral position. i represents, for example, the flow rates and pressures when the boom is raised and lowered. As with the functions to be controlled, these tables are not necessarily symmetrical, positive or negative, relative to the neutral position.

[0040] Specific control mechanism iAlternatively, the control width may be increased from the neutral position and returned to its original position without going to the negative portion.

[0041] Pressure P i (α j ) (demanded pressure) is the pressure at the receptor R i Adjust the pressure and flow rate Q i (α j ) (required flow rate) is the receiver R i The flow rate of fuel supplied to the fuel supply unit is adjusted by an electrohydraulic distributor D such as that suitable for use in the present invention. i If , the requested flow rate Q i (α j ) and Distributor D i The strength of the control signal I i (α j ) is equivalent to the flow rate Q i (α j ) expression is used for specific control and it is expressed as intensity I i (α j ) is converted to distributor D i is used to control the flow rate to obtain the desired flow rate or the allocated flow rate after correction in case of flow sharing.

[0042] The two requested values ​​P i (α j ) and Q i (α j ) is the control signal SP applied to the pressure flow regulator 6 of the pump 1 max , SQC. In this specification, the regulator 6 generally integrates the two regulators into one.

[0043] The control device 100 includes: - Mechanism J i Combined with distributor D i Control signal SCD i A processing module MT that generates i (28,29...) and - Branch line BR i a comprehensive set of measures common to all - Various control mechanisms iThe flow rate Q required from i (α j ) and generating a cumulative flow signal SQC which is applied to the regulator 6; - Working Equipment E i The pressure P required from i (α j ) and the maximum pressure P max Pull out the signal SP for regulator 6. max A selector 25 forming It is equipped with:

[0044] Processing module MT i is the required flow rate Q i Represents the intensity I i (α j ) with the correction coefficient CR i The signal SCD is multiplied by i (α j ) and distributor D i Place the spool to the side (a j ) or (b i ) the final control signal SCF i and the receptor R i Fuel is supplied to one of the two chambers.

[0045] Correction coefficient CR i takes the following parameters: Po i : Reference pressure of the actuator. This pressure is the mechanism J i The measurement is performed at the minimum rotation speed No of the motor during the control phase. No: Minimum speed P max :Control mechanism J i Maximum pressure possible in the stroke N: Rated operating speed controlled by the motor It depends on.

[0046] Minimum speed No and pressure Po i is the branch line BR i Related base tables To iThis table shows the conversion units UC i Table T i It may be merged with.

[0047] Coefficient CR i is expressed as follows:

number

[0048] Therefore, the control signal SCD i teeth, SCD i =CR i I i .(α j ) It can be expressed as follows.

[0049] Coefficient CR i As mentioned above, distributor D i Control signal SCD i The total receptor R fueled to form i Receptor R in i It represents the intensity I i (α j ) is Distributor D i This is the current intensity required to control the distributor D, considered separately. i Flow rate Q supplied to i (α j ) to control distributor D i This strength is applied to the coefficient CR to share the available flow rate Q delivered through the pump. i (α j ) is corrected by

[0050] Distributor D i If they are equal, strength I i (α j ) is the value of all distributors D i However, if the distributors are different, the value I i (αj ) are different, each control mechanism J i Related Table T i It is preferable that the composition is included in the above.

[0051] Figure 2, complemented by Figure 3, shows a simplified detail of the overall view of Figure 1, and shows the branch line BR i This branch line is limited to one. i The movement or position (α j ) to equipment E i Receptor R i Distributor D that supplies fuel to i and transmits the request to the general means of the device implemented to the pump 1 and distributor D i This applies to the control of

[0052] Branch line BR i is the required flow rate and the required pressure P i (α j ) value, as well as distributor D i Control strength I i (α j ) value Q i (α j ) for table T i Conversion unit UC displayed in i It is composed of:

[0053] The branch line is signal I i (α j ) and this branch line BR i Distributor D i Signals that control SCD i and other signals which are combined to obtain at the output i Includes.

[0054] Distributor D with spool i Distributor D i The flow rate through the receiver R can be adjusted (by a positive or negative value) to produce a linear or rotating cylinder (hydraulic motor).i The electrohydraulic distributor D is controlled to supply fuel to one side or the other (chamber). i If the device is in flow sharing mode, the coefficient CR i The control mechanism J corrected by i Position (α j ) is controlled by the strength taking into account.

[0055] The various components, either in physical form or in the form of program modules, are connected to general means of the device, which means are connected to the overall branch line BR of the device. i is common to all.

[0056] Thus, the unit UC i All operating branch lines BR i Pressure value P of (i=1-n) i (i=1-n) is connected to a pressure selector (25) which receives the maximum pressure value VP max and the corresponding signal SP max Module MT i and to the regulating unit 6 of the pump 1.

[0057] Conversion unit UC i The processing module MT i and value Q i (α j ) is also connected to an adder 24.

[0058] The adder 24 calculates the total number of converters UC i The requested flow rate Q i (α j )(i=1-n) and receive the flow rate Q i (α j ) to generate the control signal SQC that is applied to the regulator 6 of the pump 1.

[0059] signal P i (α j ) and Q i (α j ) is the entire control mechanism J i(i=1-n) represents the required operating state at the time (t). i Control mechanism J in neutral position i is the pressure P max Thus, the regulating unit 6 transmits a signal zero that does not participate in the selection of the branch BR i This means that pump 1 is managed only according to the

[0060] Correction coefficient CR i is the number of branches BR obtained separately. i The parameters of the branch line are calculated in advance, and then the control mechanism J i Adjustment position (α j ) related to the pressure P i (α j ) and flow rate Q i (α j ) value, each branch line BR i The value of P i (α j ) and Q i (α j The operating branch is the branch that is connected to the hydraulic circuit of the pump 1 at a certain time (t) in the operating phase of the device 100, and the general means of the device, the pump 1 and its motor, are controlled by the control regulator 6 and the control mechanism J. i The most suitable pressure P for the requirements max Each branch line BR in operation to distribute the available flow rate Q at i The purpose of this is to control the means specific to the branch line BR i The demand for pressure P i (α j ) and flow rate Q i (α j The controlled means of each branch line is the distributor D i It is.

[0061] 1) Branch line BR i Calculation of parameters These parameters are i Flow rate Qi and pressure P i and Distributor D, which was acquired independently i Control strength I i (α j ) is the control mechanism J i The control position (α j ) Table T i It depends on the receptor R i Control mechanism of J i Each control position (α j )

number

[0062] Table T i is the control mechanism i Operate the pump and distributor D of the hydraulic circuit. i While controlling the single equipment E i The value P obtained by measuring the actual value obtained while using the i (α j ), Q i (α j ), I i (α j ).

[0063] Table T i is at every position (α j ) related control mechanism J i Displacement increment of branch line BR i The pressure P specific to i (α j ) and flow rate Q i (α j ) (or the flow rate intensity I i (α j )) as well as the distributor D depending on the applied control signal (intensity) i 1 is a list of measurements taken according to the degree of mouth opening.

[0064] - In the following preparatory steps, the acceptor R for the minimum rotational speed No of the motor driving the pump 1 is i Pressure Poi Calculate.

[0065] - Equipment E i During normal operation, pressure P i Measure the rotation speed N of the motor that drives pump 1. i is the pressure P according to the motor rotation speed N i This is the only instrument in operation to measure changes in this way.

[0066] 2) The correction coefficient CR i In order to distribute the flow rate Q provided by the pump, the flow rate must be shared by all equipment E even if the current operating mode is somewhat reduced as a result of the distribution of the flow rate Q provided by the pump. i In order to operate the equipment E at that time (t), i Each flow rate Q requested from i (α j ) with the correction coefficient CR i needs to be assigned.

[0067] According to the invention, each branch line BR i Correction coefficient CR for (i=1...n) i teeth,

number

[0068] This formula is:

number

[0069] Po i and the term No. refers to the branch line BR i Related Table T i Each equipment recorded in E i is a fixed value specific to

[0070] Pressure P max is the equipment E operating at time t. i The pressure P required from i This is the highest pressure among all.

[0071] N is the motor rotation speed at that time (t).

[0072] Therefore, the correction factor CR i is involved in the following: - all the equipment E operating in the hydraulic circuit at the time t i Common terms for: N, No, P max -Terminology specific to each equipment:Po i -Therefore, the branch line BR i Coefficient of CR i is the branch line BR i The only term specific to Po i Functions CR i =f(Po i ) It is.

[0073] Correction coefficient CR i is the required flow rate Q i Related to the following relationships:

number

[0074] The flow rate corresponds to the flow rate, so for equipment E i Actual flow rate delivered to

number

number

[0075] P max The value of is not a constant with time, but can change during the operating phase of the hydraulic system because i may be replaced, and one piece of equipment E i This is because the equipment E will stop and / or other equipment will be added to the hydraulic circuit. i The operation of the equipment E i The value of P i Equipment E is currently in operation. i The pressure P required for i If it is the highest among them, the pressure P max may change.

[0076] Coefficient CR i is the pressure P i =P max All equipment including those equivalent to E i is specific to

[0077] 3) Control signal SCD i Calculation of Branch line BR in flow sharing mode i Distributor D i Control signal SCD i is the receptor R i The fuel supply to the engine is controlled according to the following: - Equipment E i Receptor R i Parameters - Control mechanism J i Position (α j ) - Other branch lines BR operating at the same time j , i.e., these branch lines BR j Pressure P jand flow rate Q j is valid.

[0078] All receptors in operation R i The flow rate Q required from i and pressure P i is the pressure P determined according to the control method that is the object of the present invention max is the value used to distribute the flow rate Q delivered through pump P by

[0079] FIG. 1 shows a diagram of a control device 100 with reference numbers in an overall diagram (FIG. 2), where i=1,2,3,4.

[0080] 4) Determining the operating mode (Figure 3) The flow sharing mode of operation is i This is a degradation mode that operates all of the equipment E by excluding this operation. i It is possible to obtain maximum performance.

[0081] The flow rate sharing mode is performed on the R i This is not an operating mode that restricts the control of only one

[0082] For this reason, each branch line BR i Switch PT connected to i The equipment needs to be switched between the two modes using a single branch line BR. i Since the possible interactions in the operation of the two are taken into account, there is no need to share flow rates.

[0083] The operation mode signal SX is the entire control mechanism J i The flow rate Q required from i (α j ) are provided by a counter 26 that receives these flows Q i (α j ) is the flow rate value VQ, which is a binary logic value. i (α j )

number

[0084] The counter 26 counts the received value VQ i (α j ) are counted,

number

[0085] In other words, SX=0 represents no flow sharing behavior, SX=1 represents flow sharing operation.

[0086] The signal SX indicates the desired operating state or the branch line BR i Regardless of the actual state of all switches PT i applies to.

[0087] Switch PT i switch to the same mode set by the signal SX, and all switches accept this mode.

[0088] If the requested mode is a flow sharing mode, flow sharing occurs naturally between only active recipients.

[0089] If the requested mode is direct mode with no flow sharing, all switch PTs i is the final control signal SCF i =0 is allowed to pass.

[0090] However, one branch line BR i Since only the CR is active, it is the only branch that receives flow at a given pressure. Therefore, the correction factor is equal to 1 up to a point, but in flow sharing mode, the factor CR i is always less than 1. [Explanation of symbols]

[0091] 100 Control device 1 Pump 2 Motors 5 Pump speed sensor 6 Pump control regulator 8 Boom Actuator 9 Arm Actuator 10 Bucket Actuator 11 Hydraulic motor for rotating body 12 Boom Distributor 13 Arm Distributor 14 Bucket Distributor 15 Hydraulic motor distributor 16 Boom control lever 17 Arm control lever 18 Bucket control lever 19. Rotating body control lever 20~23 conversion unit 24 Adder 25 Selector 26 Counter No Minimum Rotation Speed N Rotational speed U.C. i Conversion Unit MT i Processing Module PT i switch SCD i (α j ) Distributor control signal SCF i Final Control Signal SX operation mode signal D i Distributor I i ,I i (α j ) Distributor D i Basic strength that controls E i Controlled Equipment F i Equipment Functions A j Control mechanism J iLocation J i Control Mechanism BR i Equipment E i Branch line T i Control mechanism J i Position (α j ) and Equipment E i Receptor R i The pressure of the hydraulic fluid supplied to i and flow rate Q i Correspondence table with CR i Flow rate Q i Correction factor for P i (α j ),P i Receptor R i Pressure requested from Q i (α j ),Q i Receptor R i Flow rate requested from VQI(α j ) Flow rate value Po i Equipment E at Rotation Speed ​​No. i Internal pressure T i Branch line BR i Correspondence table To i Branch line BR i Table of base values

Claims

1. Multiple receptors (R ｉ 1. A control system for a hydraulic device having a - each of said receptors (R ｉ ) control position (α ｊ ), said receiver is supplied with fluid via a pump (1) whose pressure value (P) and flow value (Q) are regulated by a regulator (6) with or without flow sharing, said control mechanism (J ｉ )and, - each receptor (R ｉ ) and the control mechanism (J ｉ ) at the control position (α ｊ A distributor (D) that supplies fluid to the receiver in response to ｉ )and, In a control system comprising: The control system includes: - each receptor (R ｉ ) and the distributor (D) for fluid supply with or without flow sharing. ｉ ) to switch the operation mode. ｉ )and, At least two receptors (R ｉ ) needs to be in operation, or to switch to flow sharing mode when one receiver (R ｉ In order to switch to a mode in which the flow rate is not shared when only the first and second valves are operating, the control signal (SX) of the operation mode is set to the switch (PT ｉ ) (i=1 a counter (26) for the flow rate values ​​provided to the flow rate measuring units (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, Equipped with Each control mechanism (J ｉ ) is the control position (α ｊ ) according to the pressure value (P ｉ (α ｊ ) and flow rate value (Q ｉ (α ｊ )), so that in flow sharing mode: - all flow values ​​(Q ｉ (α ｊ A flow control signal (SQC) corresponding to the sum of all pressure values ​​(P ｉ (α ｊ The maximum pressure value (P ｍａｘ ) corresponding to the pressure signal (SP ｍａｘ ) and - said control position (α ｊ ) at the time (t) according to the flow rate value (Q ｉ (α ｊ Each distributor (D ｉ ) to adjust A control system comprising:

2. Each distributor (D ｉ The adjustment of the distributor (D ｉ The control mechanism (J ｉ ) to the pressure value (P ｉ (α ｊ )) The control system of claim 1 .

3. The flow value counter (26) receives flow signals corresponding to the flow values ​​(Qi(αj)) of all the control mechanisms (Ji) and converts the flow signals into a binary value of flow (VQ ｉ (α ｊ ) and if the flow rate is not zero, convert it to a binary value of 1; The sum of the flow rate values ​​(ΣQ ｉ (α ｊ ) is the binary value (VQ) of the flow rate counter (26) of the flow rate value. ｉ (α ｊ If the count of the first receiver (R) is 1, meaning that only one receiver needs to be supplied with fluid, generate an operation mode control signal (SX) that is 0, and the operation mode control signal (SX) is set to 0 when the count of the first receiver (R) is 1, meaning that only one receiver needs to be supplied with fluid, and the operation mode control signal (SX) is set to 0 when the count of the second receiver (R) is 1, meaning that only one receiver needs to be supplied with fluid, ｉ 1 when it is necessary to supply fluid to The control system of claim 1 .

4. The control mechanism (J ｉ ) is the receptor (R ｉ ) said control mechanism (J ｉ ) at each control position (α ｊ ) related to the pressure value (P ｉ (α ｊ ) and flow rate value (Q ｉ (α ｊ )) table (T ｉ ) including the conversion unit (UC ｉ ), and the pressure values ​​(P i (α j )) and the flow values ​​(Q i (α j )) are combined with the control positions (α ｊ The receptor (R ｉ ) vs. the measured pressure value (P ｉ (α ｊ ) and flow rate value (Q ｉ (α ｊ ) The control system of claim 1 .

5. In the flow rate sharing mode, the control position (α ｊ ) the requested flow rate value (Q ｉ (α ｊ )) is the receptor (R ｉ The distributor (D) adjusts the fluid supply to ｉ ) control signal (SCD ｉ ) is the pressure value (P ｉ (α ｊ )) according to the correction coefficient (CR ｉ ) in combination with The control system of claim 1 .

6. The distributor (D ｉ ) is the fundamental current intensity (I ｉ (α ｊ )), the basic current intensity (I i (α j )) is the current intensity of the distributor (D ｉ ) to the requested flow rate value (Q ｉ (α ｊ )) and the distributor (D ｉ ) control current intensity (I ｉ (α ｊ )) controls the passage cross section between the closed state and the fully open state by the control position (α ｊ ) and in the flow sharing mode, the control signal (SCD ｉ (α ｊ ) is the correction coefficient (CR ｉ (α ｊ )) multiplied by the control current intensity (I ｉ (α ｊ )) and SCD ｉ (a ｊ )=CR ｉ (a ｊ )・I ｉ (a ｊ ) Characterized in that The control system of claim 5.

7. The pump (1) is ｉ ) and the requested flow rate value (Q ｉ (α ｊ )) and a required pressure value (P ｉ (α ｊ The maximum pressure value (P ｍａｘ ) corresponding to the pressure signal (SP ｍａｘ ) is controlled by The control system of claim 1 .

8. Each receptor (R ｉ ) the correction coefficient (CR ｉ ) is the common parameter (P ｍａｘ , N, No) and the requested pressure value (P ｉ (α ｊ )) depending on [0010] Where: P ｉ = Receptor (R) at the minimum rotation speed (No) of the motor (2) ｉ ) Pressure value No. = Minimum rotation speed of motor (2) P ｍａｘ = Motion control object (E ｉ (R ｉ The maximum pressure value among all the operating pressure values ​​requested from N = the rotation speed of the pump motor (2) at the time (t) Characterized in that The control system of claim 5.

9. A plurality of receivers (R) operating in parallel by distributing the flow rate of the pump ｉ 1. A control system for a hydraulic device having a - driven by a motor (2) rotating at a certain speed at a given time (t), generating a pressure signal (SP ｍａｘ a pump (1) regulated by a regulator (6) receiving a flow rate signal (SQC) and a cumulative flow rate signal (SQC); - Branch (BR ｉ ), each branch being a control mechanism (J ｉ ) to the control position (α ｊ ) is controlled by the motion control object (E ｉ ) of the receptor (R ｉ ) to the control mechanism (J ｉ a branch having a specific means for connecting - said control mechanism (J ｉ ), and the control position (α ｊ ) and receives the requested flow rate value (Q ｉ (α ｊ ) and the requested pressure value (P ｉ (α ｊ )) to generate a conversion unit (UC ｉ )and, - each receptor (R ｉ ) and a distributor (D) for fluid supply with or without flow sharing. ｉ ) to switch the mode selector (PT ｉ ) (i=1 . . . n) and - at least two receptors (R ｉ ) needs to be in operation, or to switch to flow sharing mode when one receiver (R ｉ In order to switch to a mode in which the flow rate is not shared when only the mode selector (PT) is operating, the operation mode control signal (SX) is ｉ ) (i=1 a counter (26) for the flow rate values ​​provided to the flow rate measuring units (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, - the requested flow rate value (Q ｉ (α ｊ )) of the receptor (R i ), ｉ ), and then forming the distributor (D ｉ ) control signal (SCD ｉ ) forming a processing module (MT ｉ )and, - the requested flow rate value (Q ｉ (α ｊ an adder (24) receiving said requested flow values ​​(Qi(αj)) and adding said requested flow values ​​(Qi(αj)) to form an accumulated flow signal (SQC) corresponding to an accumulation of said requested flow values ​​(Qi(αj)); - the requested pressure value (P ｉ (α ｊ ) and the maximum pressure value (P i (α j )) of the requested pressure values ​​(P i (α j )) is received. ｍａｘ a maximum pressure selector (25) for holding the pressure; a sensor of the rotational speed (N) of said motor (2); - the receiver (R) taken separately for the motor (2) of the pump (1) rotating at the lowest rotational speed (No ｉ ) pressure value (Po ｉ a table (To) including the minimum rotation speed (No) and the minimum rotation speed (No); Equipped with the cumulative flow signal (SQC) and the pressure signal (SP ｍａｘ ) is applied to the regulator (6) of the pump (1), - the pressure signal (SP ｍａｘ ), and a rotation speed signal corresponding to the rotation speed (N) is transmitted to all of the processing modules (MT ｉ ) the signal corresponding to the pressure value (Po i ) of the receptor (R i ) and the minimum rotation speed signal corresponding to the minimum rotation speed (No) are fed to a branch (BR ｉ ) of said processing module (MT ｉ ) said processing module (MT ｉ ) is calculated by the correction signal (CR ｉ ) is formed, [0025] Where: P ｉ = Receptor (R) at the minimum rotation speed (No) of the motor (2) ｉ ) Pressure value No. = Minimum rotation speed of motor (2) P ｍａｘ = Motion control object (E ｉ (R ｉ The maximum pressure value among all the operating pressure values ​​requested from N = the rotation speed of the pump motor (2) at the time (t) That is, Control system.

10. In the flow sharing mode, the distributor (D ｉ ) of the control signal (SCD ｉ (α ｊ ) is the correction factor (CR i ) of the receptor (R i ) for the requested flow value (Q i (α j ) ｉ (α ｊ )) multiplied by the control mechanism (J ｉ ) at the control position (α ｊ The distributor (D) is considered alone without sharing the flow rate according to ｉ ) control current intensity (I ｉ (α ｊ )) SCD ｉ =CR ｉ ・I ｉ (α ｊ ) and In a non-flow sharing mode, the signal is the control current intensity (I ｉ (α ｊ )) Characterized in that 10. The control system of claim 9.

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