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    • 专利摘要:
    Electrohydraulic control circuit for controlling a hydraulically actuated actuator (5.6), by means of which a segment (5.3) of a manipulator, in particular a large manipulator for truck-mounted concrete pumps, in terms of its orientation is adjustable, wherein an electrically controlled first valve (2.4), which with hydraulic working lines of the actuator (5.6) is connected to its control, as well as in the working lines of the adjusting member (5.6) provided leak-free shut-off valves (2.5, 2.6) arranged on the actuator (5.6) or this actuator (5.6) associated segment (5.3) and for the normal operation of the actuator (5.6) are unlocked, wherein the unlocking of the check valves (2.5, 2.6) by one of the first valve (2.4) and the check valves (2.5, 2.6) separate electronic control device (ECU) is controlled.
    公开号:AT514115A1
    申请号:T50241/2013
    申请日:2013-04-09
    公开日:2014-10-15
    发明作者:
    申请人:Ttcontrol Gmbh；
    IPC主号:
    专利说明:

    P13127
    Electrohydraulic control circuit
    The invention relates to an electro-hydraulic control circuit for controlling a hydraulically actuated actuator, by means of which a segment of a manipulator, in particular a large manipulator for truck-mounted concrete pumps, is adjustable with respect to its orientation.
    The invention further relates to a control system for controlling the orientation of a segment of a manipulator, in particular a large manipulator for truck-mounted concrete pumps, wherein the segment is connected via a hinge to a base or a predecessor segment of the manipulator and at the joint relative to the base or the predecessor segment at least one axis of rotation by means of at least one actuator, preferably hydraulic actuator, is pivotable.
    Currently used electro-hydraulic control circuits or related control systems, such as those used for example to control multi-unit large manipulators for truck-mounted concrete pumps, generally have a central control block, with individual segments can be controlled individually. For this purpose, the segments hydraulic actuators are assigned, which can be operated either electro-hydraulically by means of pilot valves or manually via hand lever. The hydraulic actuators are usually designed as a hydraulic cylinder, wherein the deflection of a piston received in the cylinder correlates with the deflection of an associated segment. For the damping of elastic oscillations algorithms are used in the systems currently used, according to which the pressure difference of the chamber pressure of the respective cylinder is returned to the cylinder associated control valve. In order to prevent a drift of the segments caused by the return and to allow a load control, known systems are often equipped with geodetic angle or tilt sensors.
    The electrohydraulic control circuits described at the beginning or the control systems associated therewith have numerous disadvantages, which are discussed as follows. The use of a central control block requires considerable line lengths, e.g. up to 70m, between the hydraulic cylinders and the valves controlling them. However, long lines 2/32 -2- PI 3127 degrade the response of the electro-hydraulic control circuit due to delays, increase the susceptibility to wire breaks, limit the space available at the segments, and increase the cost of the electro-hydraulic control circuit. Furthermore, to avoid an unwanted sinking of a segment often lowering brake valves must be used, which open only at a corresponding pressure in the associated hydraulic supply lines (and thus actuated control valve). Since each opening operation is associated with a time duration, these lead to an additional delay and a further deterioration of the response. The frequent change of the travel direction to be expected in the case of an active control effect an uninterrupted opening and closing of the lowering brake valves. In particular, an opening state of the involved valves which is undefined at slow travel speeds induces elastic vibrations of the segments. Since the pressure supply of the electro-hydraulic control circuit is not a constant pressure system and the supply pressure affects the response, additional delays may occur due to the magnitude of the supply pressure. Electrohydraulic control circuits, which are implemented exclusively in hardware, are not flexible and can not be adapted to the respective operation.
    Because of these weaknesses, the currently used electro-hydraulic control circuits or related control systems for the implementation of highly dynamic control strategies are not suitable. The response delayed by the described effects has a negative effect on the control of the segments, especially at low travel speeds.
    The document EP 1 882 795 B1 shows a large manipulator, in particular for concrete pumps with a frame mounted on a frame, preferably rotatable about a vertical axis of rotation mast block, with a composite of at least three mast arms articulated mast. For determining a time-dependent measured variable derived from the mechanical oscillations of a relevant boom arm, pressure sensors are provided, wherein a pressure sensor is attached to a bottom end and a rod end of a piston and the pressure difference supplies the corresponding time-dependent measuring signal.
    The systems used, which are typically used for the active damping of elastic vibrations, have the following disadvantages: Pressure sensors used in them do not directly measure the dynamic states of the segment. Vibrations that act on (for example due to static friction) fixed hydraulic cylinder can not be determined. Furthermore, unaccounted for dynamic effects, e.g. are caused by a non-ideal pressure supply, have a direct influence on feedback measurement signals and thus reduce the performance of the electro-hydraulic control circuit or the associated control system.
    It is therefore an object of the invention to provide an electro-hydraulic control circuit for driving a hydraulically actuated actuator or a control system, which eliminates the above-mentioned disadvantages of the prior art.
    In a first aspect of the invention, this object is achieved with an inventive electrohydraulic control circuit of the type mentioned, in which an electrically controlled first valve, which is connected to hydraulic working lines of the actuator to its control, and provided in the working lines of the actuator check valves, the arranged on the actuator or the actuator associated with this segment and are unlocked for normal operation of the actuator, wherein the unlocking of the check valves is controlled by a separate from the first valve and the check valves electronic control device.
    Thanks to this solution according to the invention, it is possible to eliminate the above-mentioned disadvantages of the prior art and to provide an electro-hydraulic control circuit that is safe and robust, has high reliability and can be efficiently adapted to the particular application and used flexibly. It is particularly advantageous if the check valves are leak-free. The use of an electronic control device allows the use of software, whereby the invention is particularly flexible and can be adapted quickly to given requirements. Furthermore, the electronic control device allows easy control / regulation of the travel speed and the actuating force of the actuator. Generally, the terms "drive", "tax" and "rules" not to be construed as limiting in the course of this application, unless explicitly stated. Thus, a control by feedback of signals can also be used for control, take over control tasks and under the term "driving". both rules and taxes are understood. 4/32 -4- P13127
    In a particularly advantageous embodiment, the first valve is arranged on the actuator or the actuator associated segment. As a result, the line lengths of the working lines between the actuator and the first valve are reduced to a minimum. This improves the response of the electro-hydraulic control circuit, reduces the susceptibility to line breaks, reduces the number of (work) lines routed along a segment or multiple segments, thus increasing the space available on the segment (s) and reducing the cost of the circuit electrohydraulic control circuit.
    In order to realize a particularly compact and robust design of the control circuit, it can be provided that the control device is designed as an electronic device dedicated to the segment, which is preferably arranged on the actuator or on the actuator associated segment. Alternatively, the electronic device could also be mounted on an actuator associated with the segment or in its immediate vicinity.
    In a further embodiment of the invention it can be provided that the working lines of the actuator are equipped with pressure sensors whose signals are supplied to the control device for monitoring the forces acting on the actuator and / or moments and / or load. The monitoring of the forces acting on the actuator and / or moments and / or load allows the implementation of numerous auxiliary functions. For example, the control circuit can be adapted directly to the operation and / or load of a control variable acting on the actuator (in particular, a state or a position of the electrically controlled first valve). By way of example, measures for achieving a constant traversing speed of a segment ("servo compensation") or also various fail-safe functions (for example the automatic detection of excess pressure and the initiation of safety-relevant measures) may be mentioned here.
    In an advantageous embodiment of the invention, the control kr eis, which is supplied by a pressure supply evolved by a pressure sensor is provided for monitoring the pressure supply, for generating a signal detected by the control device for adjusting the control of the first valve by the pressure sensor Pressure fluctuations is supplied. This allows adaptation of the pressure supply to the operation and / or the load. 5/32 -5- P13127
    A simple and yet particularly advantageous embodiment of the invention is given by the first valve is designed as a proportional valve, in particular as a proportional valve. The first valve may be referred to as a so-called "continuous valve". be executed, which is not switched discretely, but allows a steady transition of switch positions. Thus, a volume flow of a fluid is adjustable.
    The unlocking of the check valves can be done directly or indirectly. Thus, it can be provided in a favorable variant of the invention that the control device controls a switching valve which supplies hydraulic Unlock lines of the check valves. In an alternative variant, the control device activates the unlocking of the check valves via electromagnetic actuation. This allows the abandonment of additional hydraulic components / lines.
    In order to minimize the number of electrical control devices and allow easy accessibility thereof, it may be advantageous to provide a central electronic control device adapted to control a plurality of control circuits of a plurality of segments of a manipulator.
    The electronic controller / s enables flexible and efficient consideration of additional parameters that may contribute to improving the performance of the control circuit. In a further development of the control circuit, the actuator can therefore be assigned sensor means which detect the operating state of the actuator and / or the spatial orientation of the associated segment and generate corresponding measurement signals, which are guided to an orientation control / regulating device associated with the segment and / or the manipulator.
    To further increase the reliability of the control circuit, an emergency circuit can be provided. Appropriately, this has in an advantageous embodiment, a parallel to the first valve hydraulic emergency circuit. In addition, the emergency circuit preferably has at least one controllable switching valve, which is arranged on the actuator or the actuator associated segment and is preferably powered by its own pressure supply line, as well as mutually coupled valves to achieve a load-holding function or a Senkbremsfunktion. 6/32 -6- P13127
    In a favorable development of the control circuit, the emergency circuit additionally has throttles, which are preferably each connected in series with one of the valves of the emergency circuit.
    In a particularly advantageous embodiment of the invention, in which at least the first valve is supplied by a pressure supply via a supply line, can be arranged in the supply line a lockable for normal operation check valve whose release is controlled by the electronic control device. This allows a separation of the downstream of the unlockable blocking valve components / Leitimgen of the pressure supply, so that, for example, a shutdown of the pressure supply in case of failure of the components / lines (for example line break) is not mandatory. Thus, other components / lines connected to the pressure supply can continue to be supplied.
    In order to further increase the reliability of the control circuit, it may be provided that the operating lines of the actuator are supplied by a first pressure supply and return system, while a second pressure supply and return system independent of the first system is provided for supplying control lines of the control circuit.
    The invention according to the first aspect further relates to a manipulator, in particular Großmanipulator for truck-mounted concrete pumps, which at least one segment, preferably two or more segments, and is arranged on a preferably rotatable about a vertical axis of rotation base, wherein the segment or a first of Segments with the base and the segments are each connected to each other via a hinge on which the respective segment relative to the base or to each other by fixed axes of rotation by means of at least one hydraulically actuated actuator are pivotable with an electro-hydraulic control circuit for controlling the actuator or at least one the actuators as discussed above.
    In a second aspect of the invention, the object set out above is achieved with a control system according to the invention of the type mentioned at the outset, in which the control system comprises at least the following: a first sensor which is arranged on a segment connected to the joint is and a deformation signal of the segment corresponding first measurement signal - as "deformation signal " denotes - supplies, - a second sensor which corresponds to a second measurement signal corresponding to the spatial orientation of the segment connected to the joint - as "orientation signal". denotes - supplies, and - at least one actuator associated with the joint; and is adapted to process the deformation signal and the orientation signal as input variables and to determine therefrom, taking into account a desired orientation of the segment assigned to the joint, an actuating signal which is fed to the assigned actuator.
    Thanks to this solution according to the invention, it is possible to significantly reduce vibrations in the segments and to position and orient segments dynamically and accurately. The control system can preferably be depicted in an electronic control device described below, which detects the measurement signals and processes them efficiently and quickly and outputs the control signals. This allows a digital structure of the control system, which can be quickly and efficiently parameterized and used in a variety of ways.
    In a preferred embodiment, it can be provided that the second sensor comprises a single-axis or multi-axis rotation rate sensor in combination with a two- or three-axis acceleration sensor whose measurement signals are processed to determine the orientation signal. Preferably, a three-axis rotation rate sensor is used in combination with a three-axis acceleration sensor. This sensor structure allows a particularly accurate determination of the orientation signal.
    In one development of the invention, an observer, in particular an extended Kalman filter, can be used to process the signals. This can additionally increase the quality of the signals.
    In order to enable a particularly compact and robust embodiment of the invention, it can be provided that the second sensor comprises an inertial sensor, preferably an inertial measuring unit (IMU). 8/32 -8- PI 3127
    In a further aspect of the invention, a magnetic field sensor may be used to determine a third angle of the orientation of the segment, whereby the quality of the measured orientation signal can be further increased.
    In order to enable the most efficient, accurate and robust measurement of the deformation signal, it is provided in a development of the invention that the first sensor comprises a strain sensor, for example a strain gauge.
    It is particularly advantageous if the first sensor is arranged on the segment at a separate position from the hinge associated actuator. The first sensor may be disposed on the body of the segment.
    Furthermore, the invention according to the second aspect relates to a manipulator, in particular large manipulator for truck-mounted concrete pumps, which at least one segment, preferably two or more segments, and is arranged on a preferably rotatable about a vertical axis of rotation base, wherein the segment or a first of the Segments with the base and the segments are each connected to each other via a hinge on which the respective segment relative to the base or to each other by fixed axes of rotation by means of at least one preferably hydraulic actuator are pivotally, characterized in that at least one of the joints a control system according to a associated with the preceding claims. The problem described above with regard to vibrations of large manipulators is a particularly suitable application of the control system, which allows a significant improvement in the usability of large manipulators.
    The advantages of the control system according to the invention can be used particularly extensively when a plurality of joints of the manipulator, in particular each of the joints, each associated with a control system.
    The second aspect of the invention can also be used in the form of a method for controlling the orientation of a segment of a manipulator, in particular a large manipulator for truck-mounted concrete pumps, wherein the segment is connected via a hinge to a base or a predecessor segment of the manipulator, wherein the segment on the 9/32 -9- PI 3127
    Joint relative to the base or the predecessor segment is pivotable about at least one axis of rotation by means of at least one preferably hydraulic actuator, characterized in that - in a first sensor, which is arranged on a segment attached to the joint, a first measurement signal corresponding to a deformation of the segment - as a "deformation signal" - is obtained, and - in a second sensor, a second measurement signal corresponding to the spatial orientation of the segment connected to the joint - as an "orientation signal". - is obtained, - is determined using the deformation signal and the orientation signal as input variables, taking into account a desired orientation of the joint associated with the segment, a control signal, - the control signal is supplied to the joint associated actuator.
    This method is versatile and particularly suitable for controlling (and regulating) the orientation of segments of a manipulator.
    The invention together with further embodiments and advantages is explained in more detail below with reference to a number of exemplary, non-limiting embodiments, which are illustrated in the figures. This shows
    1 is a side view of a transport vehicle with a large manipulator in a transport state,
    2 shows a side view of the transport vehicle according to FIG. 1 with the large manipulator in an operating state, FIG.
    3 is a schematic representation of a first embodiment of an electro-hydraulic control circuit according to the invention,
    4 is a schematic representation of a second embodiment of an electro-hydraulic control circuit according to the invention,
    Fig. 5 is a schematic representation of a control system according to the invention and 10/32 -10- PI 3127
    6 is a side view of a section of a boom of the large manipulator of FIG .. 1
    In Fig. 1, a transport vehicle 5.1 is shown in a side view, which has a large manipulator 5.2, wherein the large manipulator 5.2 has a plurality of segments 5.3. Fig. 1 shows a plurality of segments 5.3, wherein for ease of reading in the illustration, only a first segment 5.3 is provided with reference numerals. The further segments 5.3 may be constructed substantially the same, but each additional segment 5.3 is connected to a predecessor segment 5.3. The first segment 5.3 is connected therein to a base 5.4 via a hinge 5.5, the base 5.4 being e.g. is designed as a vehicle-fixed vertical axis rotatable slewing. Alternatively, however, the base 5.4 could be configured in any other way - it is essential that the first segment 5.3 is connected via a hinge 5.5 with the base 5.4.
    Between the base 5.4 and the first segment 5.3, a first actuator 5.6 is arranged, which is preferably designed as a hydraulic cylinder; Of course, the actuator 5.6 can also be designed in other ways, e.g. as a hydraulic motor. The first actuator 5.6 is adapted to pivot the first segment 5.3. The pivoting position is determined by the structural design of the first segment 5.3, the base 5.4 and the joint 5.5 and by a deflection of the actuator 5.6. In order to pivot the first segment 5.3, a piston arranged with the first segment 5.3 and within the hydraulic cylinder is preferably displaced by means of pressure differences acting on the hydraulic cylinder. The first segment 5.3 is articulated in the embodiment shown with other segments 5.3, wherein in each case an actuator 5.6 segment between the predecessor and the successor segment is arranged, wherein the actuator 5.6 in the manner described above, a pivoting of the individual segments 5.3 allows each other ,
    For the purposes of this disclosure, the term "manipulator" means a working device, such as e.g. understood an arm, a boom, a hoist, a mast or a mast, which is suitable for driving the position and / or orientation of at least one by means of at least one actuator 5.6 movable segment 5.3, wherein the position and / or orientation relative to a predecessor Segment 5.3 or Basis 5.4. 11/32 -11- P13127
    FIG. 2 shows the transport vehicle 5.1 with the large manipulator 5.2 in an exemplary operating state. The individual segments 5.3 are pivoted in such a way that they together form a kind of bridge which is suitable for enabling a mass transport via the connection of the individual segments 5.3 to a location remote from the transport vehicle 5.1. This requirement is particularly prevalent in large-scale manipulators for truck-mounted concrete pumps, where liquid concrete is to be pumped over long distances, as will be explained in more detail below.
    Along the segments 5.3 is for this purpose a concrete pipe (not shown), e.g. a delivery pipe out, which has at its end an outlet 5.7, which is designed for example as a hanging end hose and which can be targeted by the orientation of the segments 5.3 brought to a desired location / position. Due to the great distances, which are bridged by means of the large manipulator 5.2 and 5,6 driven therein actuators, the elasticity and deformation of the components forming the bridge, changes in pressure in the concrete line, external environmental influences such as the impact of gusts and the like it comes to Vibrations including up and down movements of the large manipulator 5.2, in particular the individual segments 5.3 and / or the concrete line, whereby the operational capability of the large manipulator can be limited 5.2 and / or in the worst case, a risk to the persons involved may be present. Furthermore, in the case of large manipulators 5.2, it is necessary to provide safety measures which prevent unintentional lowering of individual segments 5.3, as might be caused, for example, by a line break of a hydraulic line of a hydraulic cylinder.
    FIG. 3 shows a schematic representation of a first embodiment of an electrohydraulic control circuit according to the invention, as it can be used in particular for the application in the case of large manipulators 5.2 described above. For ease of reading, the reference numerals of the preceding figures have continued to be used and, unless otherwise defined, correspond to the preceding elements. However, this does not mean that the electro-hydraulic control circuit is restricted to the embodiment shown in the preceding figures. This is an electrically controlled first valve 2.4 can be seen, with which an actuator 5.6, in particular the hydraulic cylinder can be moved by this the actuator 5.6 associated working lines Al, A2 subjected to a pressure difference. For this purpose, the working lines are optionally connected in each case to a first pressure supply system P2 or a first return system T2. The first valve 2.4 can be designed, for example, as an electromechanically actuated 4/3 proportional directional control valve. The control of the first valve 2.4, for example, directly with proportional solenoids or hydraulically via pilot operated pilot valves by an electronic control unit ECU (electronic control unit). The electronic control unit ECU monitors the state of the system, enables the implementation of complex algorithms, provides an interface for communication to the outside via a bus system (for example CAN) and the possibility of connecting a large number of sensors to it. A switching valve 1.1, which is designed for example as an electromechanically actuated 3/2-way switching valve, acts as a central release valve (this function will be discussed in more detail below) and is controlled by the electronic control unit ECU. When the switching valve 1.1 is energized by the electronic control unit ECU, the switching valve 1.1 switches the control pressure assigned to a second pressure supply system PI to the shut-off valves 2.1, 2.5 and 2.6, thereby opening them (at the same time) and allowing a supply pressure associated with the pressure supply system P2 to depend on the Position / from the state of the first valve 2.4 to a working line of the first valve 2.4 associated actuator 5.6, in particular a hydraulic cylinder, is acted upon. The check valves 2.1, 2.5 and 2.6 are preferably designed as a pilot-operated check valves. The pilot-operated check valves preferably have a return spring, whereby a defined state is established when the electromagnets assigned to the switching valve 1.1 are not energized, by switching a tank pressure associated with a second return system TI to the check valves 2.1, 2.5 and 2.6.
    The check valves 2.5 and 2.6 perform a load hold function when the control circuit is in an inactive state. The check valve 2.1 also has a safety function, in particular it prevents a pressing of the check valves 2.5 or 2.6 (by the supply pressure) in the case of a clamping piston in the first valve 2.4 outside the middle position. Another check valve 2.2, which is designed as a check valve, serves as a mechanical protection of the control circuit against a break in a first pressure supply system P2 associated supply line. The actuator 5.6 are preceded by two pressure relief valves 2.9 and 2.10, which protect the actuator 5.6, in particular the hydraulic cylinder from damage by excessive chamber pressures and thus serve as 13/32 -13- PI3127 overload valves. In addition, pressure sensors 2.3, 2.7 and 2.8 are provided, which measure the supply pressure in the active state of the control circuit and the pressures with which the actuator 5.6 (in particular the two chamber pressures / working pressures of the hydraulic cylinder) is acted upon. In the embodiment shown, the control circuit further has an optional and particularly advantageous hydraulic emergency circuit (emergency operation branch) connected in parallel with the first valve 2.4, which supply oil for availability via a separate third pressure supply line P3. The emergency circuit allows a method of the cylinder in case of failure of the first valve 2.4 associated (or upstream or downstream) components. The emergency circuit includes a controllable switching valve 3.1, which is provided for example as an electromechanically controlled 4/3-way valve 3.1 for controlling the direction of travel, and two mutually coupled valves 3.2 and 3.3, which are preferably designed as Senkbremsventile in classic circuit. With the aid of downstream chokes 3.4 and 3.5, the travel speed can be limited.
    The control circuit further has a first sensor or a first sensor means 4.1, which is arranged on a segment 5.3 and a deformation of the segment 5.3 corresponding first measurement signal - as "deformation signal". designated - supplies. In addition, a second sensor or a second sensor means 4.2 is provided, which has a second measurement signal corresponding to the spatial orientation of the segment 5.3 - as an "orientation signal". designated - supplies. In addition, a further sensor means 4.3 may be provided, which is also drawn to determine the orientation. The sensor means 4.1, 4.2 and 4.3 can, for example, be connected to the electronic control unit ECU via bus systems (for example CAN).
    The electronic control unit ECU monitors the state and the behavior of the control circuit or an associated control system by means of the available sensors. If the electronic control unit ECU detects a malfunction, it automatically switches the control circuit or the control system to a safe state.
    The electronic control unit ECU is actuated via a BUS system (for example CAN) via which control commands and setpoint values can be transmitted, which can be preset by a user, for example via a user interface (for example with joystick, levers, etc.). Furthermore, status information of the control circuit or the control system can be transmitted to higher-level control devices. The position of the first valve 2.4 necessary for a desired travel speed can be determined by means of software based on measured pressure conditions. Due to the sensors used, the required supply pressure can be transmitted by a local electronic control unit ECU to a higher-level electronic control unit ECU, which controls, for example, a hydraulic pump, via a BUS system.
    Fig. 4 shows a schematic representation of a second embodiment of an electro-hydraulic control circuit according to the invention. Therein, the number of responsible for the load-holding-tion valves (2.5,2.6, 3.2 and 3.3) is reduced by the release valve was 1.1 replaced by a 6/2-way switching valve 2.11 as a selector. The control of the emergency circuit via two switching valves 3.1a and 3.1b. In Fig. 4, the electronic control device ECU is not explicitly shown, however, to be regarded as similar as in Fig. 3 connected.
    5 is a schematic representation of a control system according to the invention can be seen, which preferably, but not necessarily put on the above-described control circuit, and for ease of understanding in a subsequent consequence based on this control circuit is described (with respect to the reference numerals applies already before predicted).
    A control algorithm associated with the control system runs on the electronic control device ECU, which is set up to control the travel speed of the cylinder, with which it can be recorded as a control variable of the control system. Local feedback of a dynamic portion of a first sensor 4.1 providing a deformation signal, which is designed in particular as strain gauges, can be used to damp the entire cantilever structure (consisting of a series of segments AL (which form a cantilever) corresponding to segments 5.3 - but it can also In order to eliminate a stationary portion of the deformation signal, the feedback of which does not achieve a damping effect, suitable high-pass filters are used: the joint positions of the joints 5.5 or the deflection of at least one control element 5.6 (and thus the alignment the segments 5.3) can thus in particular when elastic vibrations by the 15/32 -15- PI3127
    Control system are actively influenced. In a pumping operation, for example, a truck-mounted concrete pump, an intervention of the control system could lead to a drift movement of the segments 5.3 and thus to a deviation from a desired target position. In order to be able to permanently comply with a stationary position, additional sensors 4.2 and 4.3 are therefore provided, which provide an orientation signal and make it possible to draw conclusions about the position of individual segments 5.3. A resulting control law can be seen in Fig. 5, in which a feedback of a local deformation signal SDMs (t) (which is supplied for example by a locally arranged on a segment 5.3 sensor 4.2 or 4.3), a measured deflection sz (t) and a desired setpoint (t) of an actuator 5.6 (in particular the piston position of a hydraulic cylinder) provides and reads as follows: uc (t) = kisDMS (i) ~ k2 (sz 01) - sz (0) uc (t) designates the Control law determined manipulated variable or a desired traversing speed of the actuator 5.6. The local deformation signal sDMS (t) represents the dynamic component of the measured deformation signal (in particular a beam curvature of a segment 5.3), which is separated by a high-pass filter HP from a stationary component sDMS stat. The factors ki and fe are gain factors and serve for the parameterization of the control system. For positive gains ki, fo > 0, the control system has an asymptotically stable behavior. Instead of regulating the deflection of the actuator 5.6, the deflection of a joint 5.5 could also be regulated.
    The input variable of an actuator 5.6 is represented by the signal sv (t), which describes, for example, the piston position of a control valve. The electronic control unit ECU can determine those valve position (s) which cause a desired travel speed u (t) of an actuator 5.6 (ie the rate of change of a deflection) (speed control GS). The signal ud (t) corresponds to a desired travel speed specified by a user.
    In order to enable a dynamically demanding position control, inertial sensors in the form of IMUs of a known type are preferably arranged on individual segments 5.3, the determination of the position of the joint 5.5 and / or the deflection of the actuator 5.6 and / or the Orientation of a segment 5.3 can serve. It is also possible for each segment 5.3 to be assigned an inertial sensor. Such an inertial sensor consists for example of a three-axis rotation rate sensor in combination with a three-axis acceleration sensor. In addition, an earth magnetic field sensor can also be provided, which can determine a deviating from the vertical, fixed direction in space. Since translatory movements have only a very small influence on angular rate sensors, their measurements can be used to detect and correct a corruption (deviations from the real values) of an inclination angle determined from acceleration values. The angle of inclination is determined by integration of the measured rate of rotation and aligned stationary by means of the measurements of the acceleration sensors. This minimizes the measuring error during dynamic (rapid) movements of the sensors. For the reaction, e.g. an observer of the form ψ (0 = -b (0 + Wdrs (0 + k (Wbs (0 - ψ (0) ko = k (ψΒ5 (ο-ψ (ο)) where ψ (ί) denotes the estimated tilt angle , ψ DKS (t) is the measured rate of rotation in the corresponding axis and ψ ßS (/) is the inclination angle determined by the acceleration sensors The estimated value b (t) compensates the offset or bias of the yaw rate sensor with the two parameters kx and k2 If the dynamics of the observer are influenced by ψn (/) and ψv (t), the estimated inclination angle of a segment 5.3 after and before a joint 5.5 assigned to the segment 5.3 can be given a joint angle φ (ί) by forming the difference. to be determined, <ρ (0 = ψ "(0-ψΛ0 ·
    Knowing the geometry of a joint design associated with the joint 5.5, the relationship between the deflection sz (t) of the actuator 5.6 and the joint angle <p (t) can be represented by a function sz (o = fm)) 17/32 -17-P13127 become. The deflection sjt) can be determined in this way analytically or alternatively by measurement.
    Due to the direct application of at least one first sensor 4.1 to a segment 5.3, a qualitatively better measurement of elastic vibrations becomes possible. Thus, even when static friction occurs in the actuator 5.6, a dynamic movement of a segment 5.3 can be detected, in contrast to measuring arrangements based on pressure sensors. Furthermore, the measurement is systematically decoupled from disturbing effects caused in the hydraulic system.
    The described method for measuring the joint angle φ (ί) or the deflection sz (t) of an actuator 5.6 can significantly reduce the systematic measurement error compared to known arrangements. This allows implementation of a position control with much higher quality. The advantages of a compact and robust construction are given in inertial sensors, which are preferably used in the course of the control system according to the invention.
    However, the use of inertial sensors offers even more advantages. For attenuation of a segment 5.3, acceleration values can be measured as an alternative to the feedback of the deformation signal measured with strain gauges (for example a beam curvature of a segment 5.3) since these also represent the forces occurring at individual points of a segment 5.3. By the three-dimensional design of the inertial sensors can thus be achieved with the sensors in addition to the damping of the vibrations and the position control in the vertical plane also a damping of the vibrations in the horizontal plane by the measured horizontal acceleration is fed back to the actuator of the slewing gear. If the inertial sensor is additionally equipped with a terrestrial magnetic field sensor, monitoring and thus also regulation of a slewing angle can be realized. Due to this multi-functionality of the inertial sensors, a variety of control and control functions can therefore be met with fewer components overall, which leads to an increase in the availability of the control system. 18/32 -18- PI 3127
    Finally, with reference to Fig. 5, it should be noted that the actuator 5.6 is also referred to as &quot; actuator &quot; could be designated and at least one segment 5.3 forms a so-called 'Auslege /'.
    A preferred arrangement of sensors 4.2 and 4.3 on a mast (or on segments 5.3) is shown in Fig. 6, which shows a side view of a section of a boom of the large manipulator of FIG. 1. The sensors 4.2 and 4.3 are preferably designed as inertial sensors. Alternatively, only one sensor 4.3 may be provided. The provision of both sensors 4.2 and 4.3, which are each arranged before or after the joint 5.5, however, increases the redundancy of the measurement signals for determining the orientation of the segment 5.3, whereby the fault tolerance of the control system can be increased or measurement errors detected and / or corrected can be. Furthermore, the first sensor 4.1 is recognizable, which is preferably designed as a strain gauge and is placed in a region of the segment 5.3 in which a relevant deformation signal assumes the maximum value. This area is often in the first 20% of the longitudinal extent of the respective segment 5.3.
    The invention can be used in many ways and is not limited to the embodiments shown. Thus, for example, the number of segments can be varied and / or the actuators 5.6 can be made pneumatically or electrically. The invention is not limited to large manipulators but can be applied in numerous other fields. Essential are the ideas underlying the invention, which in view of this doctrine by a person skilled in many ways executable and still remain maintained as such. 19/32 P13127
    List of Reference Signs (not part of the application) 1.1 Switching valve 2.1 Check valve 2.2 Check valve 2.3 Pressure sensor 2.4 First valve 2.5,2.6 Check valves 2.7,2.8 Pressure sensors 3.1 Controllable switching valve 3.1a, 3.1b Switching valves 3.2.3.3 Coupled valves 3.4.3.5 Chokes 4.1.4.2.4.3 First Sensor or first sensor means, second sensor or second sensor means, sensor means 5.1 Transport vehicle 5.2 Large-capacity manipulator 5.3 Segment 5.4 Base 5.5 Joint 5.6 Actuator 5.7 Outlet AK Actuator AL Boom GS Speed control HP High-pass filter P2, T2 Pressure supply P2, T2 First pressure supply and return system PI, TI second pressure supply and return system P3 pressure supply line ECU electronic control unit 20/32 -24- PI3127 uc (t) control variable £ dms (0 deformation signal ^ DMS, stat stationary part of the deformation signal ki, k2 ampli fi cation factors φ (ί ) Joint angle ψ (ΐ) estimated inclination angle ΨDRS (0 measured rate of rotation determined by means of acceleration sensors inclination angle sz (t) measured displacement <(t) setpoint of deflection ud (t) specified by the user travel speed m estimated value 21/32
    权利要求:
    Claims (15)
    [1]
    Electro-hydraulic control circuit for actuating a hydraulically actuated actuator (5.6), by means of which a segment (5.3) of a manipulator, in particular a large manipulator for truck-mounted concrete pumps, is adjustable with respect to its orientation, characterized by an electrically controlled first valve (2.4 ), which is connected to hydraulic working lines of the actuator (5.6) to its control, as well as in the working lines of the actuator (5.6) provided check valves (2.5,2.6) on the actuator (5.6) or this actuator (5.6) associated segment (5.3) are arranged and for the normal operation of the actuator (5.6) are unlocked, the unlocking of the check valves (2.5, 2.6) controlled by one of the first valve (2.4) and the check valves (2.5, 2.6) separate electronic control device (ECU) becomes.
    [2]
    2. Control circuit according to claim 1, characterized in that the first valve (2.4) on the actuator (5.6) or the actuator (5.6) associated segment (5.3) is arranged.
    [3]
    3. control circuit according to claim 1 or 2, characterized in that the control device (ECU) is designed as a for the segment (5.3) dedicated electronic device, preferably on the actuator (5.6) or on the actuator (5.5) associated segment ( 5.3) is arranged.
    [4]
    4. Control circuit according to one of the preceding claims, characterized in that the working lines of the actuator (5.6) are equipped with pressure sensors (2.7, 2.8) whose signals of the control device for monitoring the actuator (5.6) acting forces and / or moments and / or load are supplied.
    [5]
    5. Control circuit according to one of the preceding claims, which is supplied by a pressure supply (P2, T2), characterized in that a pressure sensor (2.3) for monitoring the pressure supply (P2, T2) is provided for generating a signal which Control device (ECU) for adjusting the control of the first valve (2.4) is supplied to by the pressure sensor (2.3) detected pressure fluctuations. 22/32 -20- P13127
    [6]
    6. Control circuit according to claim 1, characterized in that the first valve (2.4) is designed as a proportionally acting valve, in particular as a proportional valve.
    [7]
    7. Control circuit according to one of claims 1 to 6, characterized in that the control device (ECU) controls a switching valve (1.1), which supplies hydraulic Unlock lines of the check valves (2.5, 2.6).
    [8]
    8. control circuit according to one claims 1 to 6, characterized in that the control device activates the unlocking of the check valves (2.5, 2.6) via electromagnetic actuation.
    [9]
    9. control circuit according to one of the preceding claims, characterized by a central electronic control device which is designed for controlling a plurality of control circuits of a plurality of segments (5.3) of a manipulator.
    [10]
    10. Control circuit according to one of the preceding claims, characterized by the actuator (5.6) associated sensor means (4.1, 4.2, 4.3), which detect the operating state of the actuator (5.6) and / or the spatial orientation of the associated segment (5.3) and corresponding measurement signals generate, which are guided to an orientation control / regulating device associated with the segment (5.3) and / or the manipulator.
    [11]
    11. Control circuit according to one of the preceding claims, characterized by a to the first valve (2.4) connected in parallel hydraulic emergency circuit, wherein the emergency circuit preferably at least one controllable switching valve (3.1), which on the actuator (5.6) or the actuator (5.6) assigned Segment (5.3) is arranged and is preferably supplied via its own pressure supply line (P3), as well as mutually coupled valves (3.2, 3.3) to achieve a load-holding function.
    [12]
    12. Control circuit according to claim 11, characterized in that the emergency circuit additionally comprises throttles (3.4, 3.5), which are preferably each connected in series with one of the valves (3.2, 3.3) of the emergency circuit.
    [13]
    13. Control circuit according to one of the preceding claims, wherein at least the first valve (2.4) is supplied by a pressure supply (P2) via a supply line, thereby characterized 23/32 -21- PI 3127, that in the supply line a lockable for normal operation check valve (2.1) is arranged, whose unlocking is controlled by the electronic control device (ECU).
    [14]
    14. Control circuit according to one of the preceding claims, wherein the working lines of the actuator (5.6) are supplied by a first pressure supply and return system (P2, T2), characterized in that one of the first system (P2, T2) independent second pressure supply and return system (PI, TI) is provided for the supply of control lines of the control circuit.
    [15]
    15. Manipulator, in particular large manipulator for truck-mounted concrete pumps, which comprises at least one segment (5.3), preferably two or more segments (5.3), and is arranged on a preferably rotatable about a vertical axis of rotation base, wherein the segment (5.3) or a first the segments (5.3) with the base and the segments (5.3) are connected to each other via a joint on which the respective segment (5.3) relative to the base or to each other by fixed axes of rotation by means of at least one hydraulically operated actuator (5.6) are pivotable , characterized by an electro-hydraulic control circuit according to one of the preceding claims for controlling the actuator (5.6) or at least one of the actuators (5.6). 24/32
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50241/2013A|AT514115B1|2013-04-09|2013-04-09|Electrohydraulic control circuit|ATA50241/2013A| AT514115B1|2013-04-09|2013-04-09|Electrohydraulic control circuit|
    PCT/AT2014/050085| WO2014165888A1|2013-04-09|2014-04-09|Electrohydraulic control circuit|
    US14/783,556| US9719530B2|2013-04-09|2014-04-09|Electrohydraulic control circuit|
    CN201480028232.6A| CN105229312B|2013-04-09|2014-04-09|Electrichydraulic control flow path|
    EP14723677.2A| EP2984350A1|2013-04-09|2014-04-09|Electrohydraulic control circuit|
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