US 20130068309A1
(19) United States
(12) Patent Application Publication (10) Pub. No.: US 2013/0068309 A1
Anderson
(54)
(43) Pub. Date:
POSITION CONTROLLER FOR
(52)
PILOT-OPERATED ELECTROHYDRAULIC
Mar. 21, 2013
US. Cl.
USPC
............................................................ .. 137/1
VALVES
(76) Inventor:
Robb Gary Anderson, Eden Prairie,
(57)
ABSTRACT
(21)
MN (Us)
Appl_ No; 13/614,116
A ?oW control valve includes a housing that includes a ?uid
inlet, a ?uid outlet, a ?rst Work port and a second Work port.
( 22 )
Filed;
main sta g e s P 001 is dis P osed in the s P 001 bore. A P ilot sta g e
(60)
Related U-s- Application Data
Provisional application NO 61/535,097’ ?led on Sep
15 2011
The housing de?nes a spool bore and a pilot spool bore. A
Se P _ 13 , 2012
spool is disposed in the pilot spool bore. The pilot stage spool
’
is in selective ?uid communication With the main stage spool.
A microprocessor includes a controller having a position
controller module, a velocity transform module, and a
'
dynamic offset module. The controller is con?gured to imple
Publication Classi?cation
(51)
ment a training process, and to compensate for viscosity
changes in the Working ?uid based on data obtained during
the training process. Outputs of the controller are communi
Int. Cl.
F17D 3/00
(2006.01)
cated to the pilot stage spool.
100\
FIG. 18A
FIG. 185
l
l
t
lmag v
u %
x
l
[lnt-gJluLMin]
l
Fr?m_Vd_MllX
I
o
u
up
jiCy
GotoJmeg_Vel_Mln
Q).
Pasil'un
MAG"
._ mi"
@>—
h
swam we may
W
Fmm_Vel_Mlr\
Prupartlond Guln
FMJMMUM
|nleg_Vel_Mux]
_
_
'
y -
+
Velocity Command
,
@—.
l
cqtLveLuw
t""=9—"='—“"‘1 >_> *0
FrnmJntag_Vul_Min
HG “1 8E
up
u
lmeqml Gain
'"M'LV’
Saturation
|
Pvm
htwdlwvelodly
5"'“"'"°"
|
I
-> on Temperature
rnu Command
vUi"
Position
Feedback
emp_Comp:nsuted_\I|loclly_Tmnn1nrm
‘MU/“LN”
urm Delay
rusitl n Feedback
I
I
PW Cur-"mend with 0H=el—>®
Fun
|
Command
r ‘it; n Command
FIG. 18C
|
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G)
—
—
—
—
|
.
"'
Oil
Temperature
.
F'M'
1
PWM Dynamic w":
Patent Application Publication
8E
J
Mar. 21, 2013 Sheet 1 0f 29
US 2013/0068309 A1
Patent Application Publication
Mar. 21, 2013 Sheet 2 0f 29
m or
.OEN
US 2013/0068309 A1
Patent Application Publication
Mar. 21, 2013 Sheet 3 0f 29
US 2013/0068309 A1
FIG. 3
200
200a
\
Provide a vatve control assembly including a controller
t
20Gb
\
2006
implement automated training protocol to establish control
parameters
Temperature compensating the control parameters to account
\
for viscosity differences between actual operating fluid
conditions and conditions during training
200d
Operate valve control assembly utilizing temperature
compensated control parameters.
Patent Application Publication
Mar. 21, 2013 Sheet 4 0f 29
US 2013/0068309 A1
FIG. 4
200b
If.’Start
...........................
Training//’
210
Determine Spool
Positions
203
230
Determine Spooi PWM
Offsets
250
Determine Spool PWiVi
Velocities
A
l/ , eeeeeeeeee "are 7777777777
.
‘\x‘i
1‘\\\End
. . . . . . . . Training
. . . . . . . . . . . . . . . .e./////
206
Measure
temperature
and store fluid
Patent Application Publication
Mar. 21, 2013 Sheet 5 0f 29
US 2013/0068309 A1
FIG. 5
210a
Determine and store
spool null position at O
PWM output
VVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVV W
Determine and store
21Ob\
spool tank end stop
position at predetermined
negative PWM output
Determine and store
2100
spool pressure end stop
position at predetermined
positive PWM output
I
230a
23Gb
i ‘_______ _ _\4 ________ _ _‘
II 232
II
\ Apply Pl position control
l
I 238
i
I
v
with positive spool
:
g
with negative spool
position set point.
r
i
position set point.
i
l
i
l
I
I
l
I
it
234
L
i
\/
ll
/,
ll
//'Spooi pos. at \1
I‘
NO —i\
:;
Ii
ii
setpoint over
“~\ time? //
\\
/,-/
Y
:;
Yes
:i
I
a
I i
l l
i‘
236
I
I
3
Store pressure PWM
offset
l
l l
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ W
I
i
l
i
'
I
|
240
NO
i l
: i
i .
i I
l i
i i
L
\/ t
I
Il Ii
ll
II
_
\ Apply PI position control
:i
l l
II
II
}
‘_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ >4
ll
l I
\_\
i ,
yy/"gpool pos. ai\\
i i
setpoint over
I I
i
:
\\ time? yr/’/
: :
‘
i
,
I
\\\ //
Y
‘ ‘
I i
i
l
l
l l
i
I
I
‘
l
!
:
l
l
l
Yes
242
II
a
I
a
E
i
1
l l
I ‘ '
Store tank PWM offset EE i’ i,
i
I
1
i
l
‘ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~I
I
i l
i
i
Patent Application Publication
initialize loop index
254
256
Output and maintain
Initialize loop index
270
Output and maintain
predetermined PWM
predetermined PWM voltage
voltage + tank PWM offset
+ pressure PWM offset
Capture sp‘ool travel time
272
over predetermined
distance
\
over predetermined
distance
17
Calculate characteristic
274
spool velocity
260
276
Calculate characteristic
spool velocity
VVVVVVVVVVVVVVVVVVVVVV A! VVVVVVVVVVVVVVVVVVVVVVVVVVVVV W
Store average spool velocity
velocity
Terminate step 254 output
=
\
Store average spool
278
and return spool to null
Terminate ‘step 270 output
and return spool to null
position
position
264
280
Increment loop index
—NO
Capture spool travel time
17
258
262
US 2013/0068309 A1
Mar. 21, 2013 Sheet 7 0f 29
increment loop index
282\ Jo
x/Loop
/‘
Index at \
_
.
\\ mammurn?
2
"
—
No
—<-
.- ’/l_o/op lndextat\
\\ maximum?
~
Patent Application Publication
FIG. 11
1528i;
4%
w9z0i1l2w"i
FIG. 12
1:.111,
Mar. 21, 2013 Sheet 10 0f 29
US 2013/0068309 A1
Patent Application Publication
Mar. 21, 2013 Sheet 12 0f 29
US 2013/0068309 A1
FIG. 14
i /
Receive
‘
Receive
~‘\Ffosi’tion Command/rj
\
‘kyelocity Command,"
304
L_-.\f
Sample Delay
308
306
316
\
#
‘7
Calculate Difference
between delayed
position command and
position feedback
\\ Feedback
Calculate position
command difference
r
312
\ Calculate position error
F _ __
difference
i
l
i
i
310
314
320
Multiply by proportional
Multiply bylderivative
gain
9am
324
Multiply by feed forward Mummy by integral gain
9am
I
Lww‘l ‘
l
116
326
Vel__Max f‘,—»
.
k Limit output velocity of
322\ Sum velocity outputs
VVVVVVVVVVVVVVVVVVVVVVVV W \
l
Vel_Mm
114 /
328\ Sum velocity outputs
110
V» 77777777777 it“77777777777 m
\'
/
-\ \ ‘
Velocity
Command
\
1/
\i
‘H
integration
Patent Application Publication
Mar. 21, 2013 Sheet 13 0f 29
US 2013/0068309 A1
FIG. 15
406
VVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVV .2
yf/Receive operating fluicl\l
,,,,,,, BEE???,,,,,,,, o
404
,,,,,,,, ETPEEFES? ,,,,,,, ,, /'
408
Find viscosity in lookup
Find viscosity in lookup
table
table
410
Calculate difference
between oil temperature ‘
viscosity and train
temperature viscosity
Multiply by viscosity
gain and add 1 to
obtain scaling value
20
414
416
\
l 422\
v
f’kéc'éivé'VéibbitW
i
y ;~——————+ Multiply by Velocity
Command /'
Command
Divide max. training
Divide min. training
spool velocity by step
spool velocity by step
412 scaling value
412 scaling value
116
Deterrinine PWM from
418\ PWM
training
lookup
velocity
table to
and I
EEPROM
11
I
1 14
ve‘ Max
—
i;
\\ Vel_Min 71/
Patent Application Publication
Mar. 21, 2013 Sheet 14 0f 29
FIG. 16
US 2013/0068309 A1
504
502
\ ---------- --_--; ------
-------- -; ------------
\4/ Receive Positron \
POSl’tlOl’t
Command f/J
506\
\
Feedback
Subtract position
feedback from position *
command
508
‘V
Ca'cu'ate PWM Offset
512
510
Calculate PWM Offset
the tank srde and PWM
Calculate above and
.
t
.
Adjust
fBW‘ll/‘ljé‘téé‘tiféh‘l?
offset on pressure side
/?wlk?oééé?éléé”,It_7
I/'"BWllhjétéétjtéjiiéijll
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V/Elégj?éiléléé?é?lj
/Fagjéiélljééléééj‘_7’
,,,, 9,7,9; ,,,,,,,,,,,, ,,
l/léeceive 0lOeratin§KE {/?eceive training ?uid‘)
Kite???'tereeeretere/
518 \
temperature
Subtract'posltlon
‘ ,
feedback from posltton
command
Multiply by temperature
gain
l/pwmp?setjres
Flag_Above__Center
t
f7 ‘
, 1
522% Calculate upper PWM
‘
offset value
’
Pwtvtp?setjank
v f/
Calculate lower PWM
i
e1
/""|nltlal PWM \\
(
,
offset value
ta
Calculate PWM
Command
(“Final PWM\\,Y
\\Com_m_andJ/’
\\ Command
\ tttttttt
1 12
uuuu
/
T
.
below center ltmtts
102
Patent Application Publication
Mar. 21, 2013 Sheet 15 0f 29
US 2013/0068309 A1
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Mar. 21, 2013 Sheet 16 0f 29
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Mar. 21, 2013 Sheet 17 0f 29
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