Method and apparatus for controlling a hydraulic motor
First Claim
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1. A method for controlling a motor output speed of a variable displacement hydraulic motor, the method comprising the steps of:
- determining a value indicative of a motor output speed;
determining a value indicative of a desired motor output speed;
determining a desired position of a control valve using a nonlinear feedback control law; and
controlling the motor output speed as a function of the control valve position, wherein the nonlinear feedback control law creates a first order system response.
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Abstract
A method and apparatus for controlling the motor output speed of a variable displacement hydraulic motor are disclosed. The method may include determining a value indicative of a motor output speed, determining a value indicative of a desired motor output speed, determining a desired position of a control valve using a nonlinear feedback control law, and, controlling the motor output speed as a function of the control valve position, wherein the nonlinear feedback control creates a first order system response.
109 Citations
20 Claims
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1. A method for controlling a motor output speed of a variable displacement hydraulic motor, the method comprising the steps of:
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determining a value indicative of a motor output speed;
determining a value indicative of a desired motor output speed;
determining a desired position of a control valve using a nonlinear feedback control law; and
controlling the motor output speed as a function of the control valve position, wherein the nonlinear feedback control law creates a first order system response. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An apparatus for controlling an output speed of a variable displacement hydraulic motor, the apparatus comprising:
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a swashplate movably mounted to the motor;
a control actuator disposed in mechanical communication with the swashplate and configured and arranged to control an angle of the swashplate;
a control valve disposed in hydraulic communication with the control actuator;
a speed sensor operably connected to an output portion of the motor and operable to determine an output speed of the motor; and
a controller electrically connected to the speed sensor and the control valve and operable to determine a desired position of the control valve using a nonlinear feedback control law and operable to control the valve to produce a first order system response. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification