Hydraulic Controller With Integrated Gyro for Stable Turning Control
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Solution Overview
Problem
The hydraulic driving systems in working machines, such as hydraulic excavators, face issues with noise interference in signal wires due to increased length, difficulty in protecting sensors from operating oil, and operational feeling deterioration due to inclination and load torque effects, leading to suboptimal actuator control.
Innovation Solution
A controller unit integrated with a gyro sensor is attached to the structural body, allowing for direct detection of operation velocity and posture, which controls the flow rate of the operating liquid to adjust for inclination and posture, thereby reducing the need for external wires and protecting the sensor from environmental factors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the rotation sensor is provided at the electric motor to detect rotational frequency, then the detection function is achieved, but the signal wire length increases and noise interference occurs
Solution Approach 1:
The patent replaces the mechanical/electrical rotation sensor system with a gyro sensor that uses gravitational force detection. The gyro sensor detects changes in gravitational force vector direction to determine turning velocity, eliminating the need for rotation sensors mounted on motors and their associated signal wires, thereby resolving the noise interference problem.
Solution Approach 2:
The patent introduces the gyro sensor as an intermediary device mounted on the turning body rather than on the motor. This intermediary position allows detection of rotational frequency through gravitational force changes without requiring direct contact with the motor's rotating components, thus avoiding the signal wire noise issue.
2Measurement precision
If the rotation sensor is provided near the hydraulic motor to detect rotational frequency, then the detection function is achieved, but protecting the sensor from operating oil becomes difficult
Solution Approach 1:
The patent replaces the rotation sensor system that requires proximity to the hydraulic motor with a gyro sensor that detects turning velocity through gravitational force changes. This substitution eliminates the need for oil-proofing measures while maintaining accurate rotational frequency detection capability.
Solution Approach 2:
The patent extracts the detection function from the motor assembly and places it on the turning body itself using the gyro sensor. This separation removes the sensor from the harsh operating oil environment while preserving the ability to detect rotational frequency through gravitational force vector changes.
3Power
If the electric motor and hydraulic motor are arranged at the center of the turning body to drive it, then the driving function is achieved, but the rotation sensor is exposed to rain water and environmental factors
Solution Approach 1:
The patent replaces the rotation sensor mounted on the motor assembly with a gyro sensor mounted on the turning body. The gyro sensor detects turning velocity through gravitational force changes and is positioned away from direct rain water exposure, while the motor assembly remains centrally positioned for effective driving function.
4Adaptability or versatility
If the turning body is turned on sloping or sunken places, then the working machine can operate in various terrains, but load torque from gravity affects turning acceleration velocity
Solution Approach 1:
The patent implements feedback control by using the gyro sensor to detect actual turning velocity and comparing it with the commanded turning velocity. The controller calculates the difference and adjusts the hydraulic pump's operating liquid flow rate to compensate for gravity-induced load torque variations, maintaining desired turning acceleration on sloping or sunken terrains.
Solution Approach 2:
The patent dynamically changes the flow rate parameter of the operating liquid supplied to the hydraulic motor based on detected turning velocity and terrain conditions. This parameter adjustment compensates for varying gravitational load torque, ensuring consistent turning acceleration performance across different terrains.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration enhances the operational feeling by accurately controlling the actuator's velocity and torque, reducing noise interference and environmental exposure, and improving handling and efficiency.
Implementation Method 1
a gyro sensor configured to output a signal corresponding to an operation velocity of the structural body
Implementation Method 2
the controller controls a flow rate of operating liquid supplied to the actuator, based on the signal output from the gyro sensor
Data Source
AI summary
A controller unit is included in a liquid-pressure driving system for use in a working machine configured to supply an operating liquid to an actuator to move a structural body by the actuator. The controller unit includes: a gyro sensor configured to output a signal corresponding to an operation velocity of the structural body; and a controller configured to control a flow rate of the operating liquid supplied to the actuator, based on the signal output from the gyro sensor and corresponding to the operation velocity of the structural body, wherein: the controller is attached to the structural body; and the gyro sensor is incorporated in the controller.