Driver self-tuning method using electro-hydraulic actuator system

• US 9,644,650 B2
• Filed: 12/16/2011
• Issued: 05/09/2017
• Est. Priority Date: 12/16/2011
• Status: Active Grant

• Current Assignee: Volvo Construction Equipment AB (Volvo AB)
• Original Assignee: Volvo Construction Equipment AB (Volvo AB)
• Inventors: Kim, Ji-Yun
• Primary Examiner(s): Masinick, Michael D
• Application Number:
  US14/365,475
• Publication Number:
  US 20140350731A1
• Time in Patent Office: 1,971 Days
• CPC Class Codes: E02F 9/2095 Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans control of hydraulic driven equipment E02F9/22
• CPC Class Codes: E02F 9/2203 Arrangements for controlling the attitude of actuators, e.g. speed, floating function
• CPC Class Codes: E02F 9/2289 Closed circuit
• CPC Class Codes: F15B 19/002 Calibrating
• CPC Class Codes: F15B 21/082 with different modes
• CPC Class Codes: F15B 21/087 Control strategy, e.g. with block diagram
• CPC Class Codes: F15B 2211/20515 Electric motor
• CPC Class Codes: F15B 2211/20561 reversible
• CPC Class Codes: F15B 2211/20569 capable of working as pump and motor
• CPC Class Codes: F15B 2211/20576 with multiple pumps
• CPC Class Codes: F15B 2211/30515 Load holding valves
• CPC Class Codes: F15B 2211/6346 representing a state of input means, e.g. joystick position
• CPC Class Codes: F15B 2211/6651 Control of the prime mover, e.g. control of the output torque or rotational speed
• CPC Class Codes: F15B 2211/6658 Control using different modes, e.g. four-quadrant-operation, working mode and transportation mode
• CPC Class Codes: F15B 2211/7053 Double-acting output members

Abstract

The present invention relates to a driver self-tuning method using an electro-hydraulic actuator system, the method comprising: a step in which a specific EHA system is selected by a HMI; a step of displaying a graph defining the mapping relationship of an actuator speed command with respect to a joystick command of the selected EHA system; a step in which, when a predetermined button is pressed by a user, the actuator maximum speed is tuned by multiplying the maximum speed value of the actuator of the selected EHA system, which has been pre-stored, by gain that increases or decreases in proportion to the number of times the button was pressed; and a step of storing the tuned actuator maximum speed in the upper controller of the EHA system. Equipment using the electro-hydraulic actuator system makes it possible to directly tune actuator speed characteristics that cannot be achieved with existing equipment using, by way of example, HMI display equipment and operating buttons.

Claims

1. An operator self-tuning method using an electro-hydraulic actuator system comprising:

a step of receiving, by a human machine interface (HMI), a user'"'"'s manipulation to select any one of a plurality of electro-hydraulic actuator (EHA) systems in response to the user'"'"'s manipulation on a display instrument;

a step of displaying, by the display instrument, a graph in which a mapping relationship of a joystick command vs. an actuator speed command of the selected EHA system is defined;

a step of, if a predetermined button (or key) is pressed by the user, tuning a maximum speed of a corresponding actuator by multiplying a pre-stored maximum speed value of an actuator of the selected EHA system by a gain that is increased or decreased in proportion to the number of pressings of the button (or key), by an upper controller; and

a step of storing, by the HMI, the tuned maximum speed of the corresponding actuator to the upper controller of the corresponding EHA system,

wherein the corresponding actuator is operated based on the tuned maximum speed.

2. The operator self-tuning method using an electro-hydraulic actuator system according to claim 1, further comprising:

a step of, if it is determined that the user desires to tune the acceleration characteristics of the actuator according to the user'"'"'s manipulation, receiving, by the HMI, the user'"'"'s manipulation to select any one of the plurality of EHA systems in response to the user'"'"'s manipulation on the display instrument;

a step of displaying, by the display instrument, a graph in which a mapping relationship of the joystick command vs. an actuator acceleration command of the selected EHA system is defined;

a step of, if a predetermined button (or key) is pressed by the user, tuning acceleration characteristics of a corresponding actuator by multiplying a pre-stored acceleration characteristic value of an actuator of the selected EHA system by a gain that is increased or decreased in proportion to the number of pressings of the button (or key), by the upper controller; and

a step of storing, by the HMI, the tuned acceleration characteristics of the corresponding actuator to the upper controller of the corresponding EHA system;

wherein the corresponding actuator is operated based on the tuned acceleration characteristics.

3. The operator self-tuning method using an electro-hydraulic actuator system according to claim 1, further comprising a step of notifying, by the HMI, the user of the mapping graph of the joystick command vs. the actuator speed command that is tuned whenever the maximum speed value of the actuator is multiplied by the gain through the displaying of the mapping graph on the display instrument.

4. The operator self-tuning method using an electro-hydraulic actuator system according to 3, wherein the step of receiving, by the HMI, the user'"'"'s manipulation to select the EHA system comprises:

a step of receiving, by the HMI, the user'"'"'s manipulation to select a predetermined operator tuning mode in response to the user'"'"'s manipulation on the display instrument;

a step of, if the operator tuning mode is selected, inquiring, by the HMI, whether the user desires to tune the maximum speed of the actuator; and

a step of, if the user desires to tune the maximum speed of the actuator is desired as a result of the inquiry, receiving, by the HMI, the user'"'"'s manipulation to select any one of the plurality of EHA systems in response to the user'"'"'s manipulation on the display instrument.

5. The operator self-tuning method using an electro-hydraulic actuator system according to claim 4, between the step of receiving, by the HMI, the user'"'"'s manipulation to select the operator tuning mode and the step of inquiring whether the user desires to tune the maximum speed of the actuator, further comprising:

a step of inquiring, by the HMI whether to reset the maximum speed value of the actuator to a default value in an initial tuning state; and

a step of, if it is desired to reset the maximum speed value according to the user'"'"'s manipulation as a result of the inquiry, storing, by the HMI, an initial mapping table value of the joystick command vs. the actuator speed command to the upper controller of the corresponding EHA system, and on the other hand, if it is not desired to reset the maximum speed value, receiving by the HMI, the user'"'"'s manipulation to proceed to the step of inquiring whether it is desired to tune the maximum speed of the actuator on the display instrument.

6. The operator self-tuning method using an electro-hydraulic actuator system according to claim 2, further comprising a step of notifying, by the HMI, the user of the mapping graph of the joystick command vs. the actuator speed command that is tuned whenever the maximum speed value of the actuator is multiplied by the gain through the displaying of the mapping graph on the display instrument.

7. The operator self-tuning method using an electro-hydraulic actuator system according to 6, wherein the step of receiving, by the HMI, the user'"'"'s manipulation to select the EHA system comprises on the display instrument:

a step of allowing the HMI to select a predetermined operator tuning mode in response to the user'"'"'s manipulation;

a step of, if the operator tuning mode is selected, inquiring, by the HMI, whether the user desires to tune the maximum speed of the actuator on the display instrument; and

a step of, if the user desires to tune the maximum speed of the actuator is desired as a result of the inquiry, receiving, by the HMI, the user'"'"'s manipulation to select any one of the plurality of EHA systems in response to the user'"'"'s manipulation on the display instrument.

8. The operator self-tuning method using an electro-hydraulic actuator system according to claim 7, between the step of receiving, by the HMI, the user'"'"'s manipulation to select the operator tuning mode and the step of inquiring, by the HMI, whether the user desires to tune the maximum speed of the actuator, further comprising:

a step of inquiring, by the HMI, whether to reset the maximum speed value of the actuator to a default value in an initial tuning state on the display instrument;

a step of, if it is desired to reset the maximum speed value according to the user'"'"'s manipulation as a result of the inquiry, storing, by the HM, an initial mapping table value of the joystick command vs. the actuator speed command to the upper controller of the corresponding EHA system, and on the other hand, if it is not desired to reset the maximum speed value, receiving, by the HMI, the user'"'"'s manipulation to proceed to the step of inquiring whether it is desired to tune the maximum speed of the actuator on the display instrument.