CROSS-REFERENCE TO RELATED APPLICATION(S)
[0001] This application is being filed on 13 May 2014, as a PCT International
Patent application and claims priority to U.S. Patent Application Serial No.
61/829,796 filed on 3 1 May 2013, the disclosure of which is incorporated herein by
reference in its entirety.
BACKGROUND
[0002] Various off-road and on-road vehicles include booms. For example,
certain concrete pump trucks include a boom configured to support a passage
through which concrete is pumped from a base of the concrete pump truck to a
location at a construction site where the concrete is needed. Such booms may be
long and slender to facilitate pumping the concrete a substantial distance away from
the concrete pump truck. In addition, such booms may be relatively heavy. The
combination of the substantial length and mass properties of the boom may lead to
the boom exhibiting undesirable dynamic behavior. In certain booms in certain
configurations, a natural frequency of the boom may be about 0.3 Hertz (i.e., 3.3
seconds per cycle). In certain booms in certain configurations, the natural frequency
of the boom may be less than about 1 Hertz (i.e., 1 second per cycle). In certain
booms in certain configurations, the natural frequency of the boom may range from
about 0.1 Hertz to about 1 Hertz (i.e., 10 seconds per cycle to 1 second per cycle).
For example, as the boom is moved from place to place, the starting and stopping
loads that actuate the boom may induce vibration (i.e., oscillation). Other load
sources that may excite the boom include momentum of the concrete as it is pumped
along the boom, starting and stopping the pumping of concrete along the boom,
wind loads that may develop against the boom, and/or other miscellaneous loads.
[0003] Other vehicles with booms include fire trucks in which a ladder may be
included on the boom, fire trucks which include a boom with plumbing to deliver
water to a desired location, excavators which use a boom to move a shovel, telehandlers
which use a boom to deliver materials around a construction site, cranes
which may use a boom to move material from place to place, etc.
[0004] In certain boom applications, including those mentioned above, a
hydraulic cylinder may be used to actuate the boom. By actuating the hydraulic
cylinder, the boom may be deployed and retracted, as desired, to achieve a desired
placement of the boom. In certain applications, counter-balance valves may be used
to control actuation of the hydraulic cylinder and/or to prevent the hydraulic cylinder
from uncommanded movement (e.g., caused by a component failure). A prior art
system 100, including a first counter-balance valve 300 and a second counter
balance valve 400 is illustrated at Figure 1. The counter-balance valve 300 controls
and/or transfers hydraulic fluid flow into and out of a first chamber 116 of a
hydraulic cylinder 110 of the system 100. Likewise, the second counter-balance
valve 400 controls and/or transfers hydraulic fluid flow into and out of a second
chamber 118 of the hydraulic cylinder 110. In particular, a port 302 of the counter
balance valve 300 is connected to a port 122 of the hydraulic cylinder 110.
Likewise, a port 402 of the counter-balance valve 400 is fluidly connected to a port
124 of the hydraulic cylinder 110. As depicted, a fluid line 522 schematically
connects the port 302 to the port 122, and a fluid line 524 connects the port 402 to
the port 124. The counter-balance valves 300, 400 are typically mounted directly to
the hydraulic cylinder 110. The port 302 may directly connect to the port 122, and
the port 402 may directly connect to the port 124.
[0005] The counter-balance valves 300, 400 provide safety protection to the
system 100. In particular, before movement of the cylinder 110 can occur, hydraulic
pressure must be applied to both of the counter-balance valves 300, 400. The
hydraulic pressure applied to one of the counter-balance valves 300, 400 is delivered
to a corresponding one of the ports 122, 124 of the hydraulic cylinder 110 thereby
urging a piston 120 of the hydraulic cylinder 110 to move. The hydraulic pressure
applied to an opposite one of the counter-balance valves 400, 300 allows hydraulic
fluid to flow out of the opposite port 124, 122 of the hydraulic cylinder 110. By
requiring hydraulic pressure at the counter-balance valve 300, 400 corresponding to
the port 122, 124 that is releasing the hydraulic fluid, a failure of a hydraulic line, a
valve, a pump, etc. that supplies or receives the hydraulic fluid from the hydraulic
cylinder 110 will not result in uncommanded movement of the hydraulic cylinder
110.
[0006] Turning now to Figure 1, the system 100 will be described in detail. As
depicted, a four-way three position hydraulic control valve 200 is used to control the
hydraulic cylinder 110. The control valve 200 includes a spool 220 that may be
positioned at a first configuration 222, a second configuration 224, or a third
configuration 226. As depicted at Figure 1, the spool 220 is at the first configuration
222. In the first configuration 222, hydraulic fluid from a supply line 502 is
transferred from a port 212 of the control valve 200 to a port 202 of the control valve
200 and ultimately to the port 122 and the chamber 116 of the hydraulic cylinder
110. The hydraulic cylinder 110 is thereby urged to extend and hydraulic fluid in
the chamber 118 of the hydraulic cylinder 110 is urged out of the port 124 of the
cylinder 110. Hydraulic fluid leaving the port 124 returns to a hydraulic tank by
entering a port 204 of the control valve 200 and exiting a port 214 of the control
valve 200 into a return line 504. In certain embodiments, the supply line 502
supplies hydraulic fluid at a constant or at a near constant supply pressure. In
certain embodiments, the return line 504 receives hydraulic fluid at a constant or at a
near constant return pressure.
[0007] When the spool 220 is positioned at the second configuration 224,
hydraulic fluid flow between the port 202 and the port 212 and hydraulic fluid flow
between the port 204 and the port 214 is effectively stopped, and hydraulic fluid
flow to and from the cylinder 110 is effectively stopped. Thus, the hydraulic
cylinder 110 remains substantially stationary when the spool 220 is positioned at the
second configuration 224.
[0008] When the spool 220 is positioned at the third configuration 226,
hydraulic fluid flow from the supply line 502 enters through the port 212 and exits
through the port 204 of the valve 200. The hydraulic fluid flow is ultimately
delivered to the port 124 and the chamber 118 of the hydraulic cylinder 110 thereby
urging retraction of the cylinder 110. As hydraulic fluid pressure is applied to the
chamber 118, hydraulic fluid within the chamber 116 is urged to exit through the
port 122. Hydraulic fluid exiting the port 122 enters the port 202 and exits the port
214 of the valve 200 and thereby returns to the hydraulic tank. An operator and/or a
control system may move the spool 220 as desired and thereby achieve extension,
retraction, and/or locking of the hydraulic cylinder 110.
[0009] A function of the counter-balance valves 300, 400 when the hydraulic
cylinder 110 is extending will now be discussed in detail. Upon the spool 220 of the
valve 200 being placed in the first configuration 222, hydraulic fluid pressure from
the supply line 502 pressurizes a hydraulic line 512. The hydraulic line 512 is
connected between the port 202 of the control valve 200, a port 304 of the counter
balance valve 300, and a port 406 of the counter-balance valve 400. Hydraulic fluid
pressure applied at the port 304 of the counter-balance valve 300 flows past a spool
310 of the counter-balance valve 300 and past a check valve 320 of the counterbalance
valve 300 and thereby flows from the port 304 to the port 302 through a
passage 322 of the counter-balance valve 300. The hydraulic fluid pressure further
flows through the port 122 and into the chamber 116 (i.e., a meter- in chamber).
Pressure applied to the port 406 of the counter-balance valve 400 moves a spool 410
of the counter-balance valve 400 against a spring 412 and thereby compresses the
spring 412. Hydraulic fluid pressure applied at the port 406 thereby opens a passage
424 between the port 402 and the port 404. By applying hydraulic pressure at the
port 406, hydraulic fluid may exit the chamber 118 (i.e., a meter-out chamber)
through the port 124, through the line 524, through the passage 424 of the counter
balance valve 400 across the spool 410, through a hydraulic line 514, through the
valve 200, and through the return line 504 into the tank. The meter-out side may
supply backpressure.
[0010] A function of the counter-balance valves 300, 400 when the hydraulic
cylinder 110 is retracting will now be discussed in detail. Upon the spool 220 of the
valve 200 being placed in the third configuration 226, hydraulic fluid pressure from
the supply line 502 pressurizes the hydraulic line 514. The hydraulic line 514 is
connected between the port 204 of the control valve 200, a port 404 of the counter
balance valve 400, and a port 306 of the counter-balance valve 300. Hydraulic fluid
pressure applied at the port 404 of the counter-balance valve 400 flows past the
spool 410 of the counter-balance valve 400 and past a check valve 420 of the
counter-balance valve 400 and thereby flows from the port 404 to the port 402
through a passage 422 of the counter-balance valve 400. The hydraulic fluid
pressure further flows through the port 124 and into the chamber 118 (i.e., a meter-in
chamber). Hydraulic pressure applied to the port 306 of the counter-balance valve
300 moves the spool 310 of the counter-balance valve 300 against a spring 312 and
thereby compresses the spring 312. Hydraulic fluid pressure applied at the port 306
thereby opens a passage 324 between the port 302 and the port 304. By applying
hydraulic pressure at the port 306, hydraulic fluid may exit the chamber 116 (i.e., a
meter-out chamber) through the port 122, through the line 522, through the passage
line 512, through the valve 200, and through the return line 504 into the tank. The
meter-out side may supply backpressure.
[0011] The supply line 502, the return line 504, the hydraulic line 512, the
hydraulic line 514, the hydraulic line 522, and/or the hydraulic line 524 may belong
to a line set 500.
SUMMARY
[0012] One aspect of the present disclosure relates to systems and methods for
reducing boom dynamics (e.g., boom bounce) of a boom while providing counter
balance valve protection to the boom.
[0013] Another aspect of the present disclosure relates to a hydraulic system
including a hydraulic cylinder, a first counter-balance valve, a second counter
balance valve, a first control valve, a second control valve, and a selection valve
arrangement. The hydraulic cylinder includes a first chamber and a second
chamber. The first counter-balance valve fluidly connects to the first chamber at a
first node, and the second counter-balance valve fluidly connects to the second
chamber at a second node. The first control valve fluidly connects to the first
counter-balance valve at a third node, and a second control valve fluidly connects to
the second counter-balance valve at a fourth node. The selection valve arrangement
is fluidly connected to the first node and the second node and is adapted to selfconfigure
to a first configuration set when a net load is supported by the second
chamber of the hydraulic cylinder and is further adapted to self-configure to a
second configuration set when the net load is supported by the first chamber of the
hydraulic cylinder. When the selection valve arrangement is enabled and at the first
configuration set, the first control valve is adapted to fluctuate a first hydraulic fluid
flow to the first chamber and thereby cause the hydraulic cylinder to produce a first
vibratory response.
[0014] In certain embodiments, when the selection valve arrangement is
enabled and at the second configuration set, the second control valve is adapted to
fluctuate a second hydraulic fluid flow to the second chamber and thereby cause the
hydraulic cylinder to produce a second vibratory response. In certain embodiments,
the first chamber is a rod chamber and the second chamber is a head chamber. In
other embodiments, the first chamber is a head chamber and the second chamber is a
rod chamber. In certain embodiments, the first counter-balance valve, the second
counter-balance valve, and the selection valve arrangement are physically mounted
to the hydraulic cylinder.
[0015] Still another aspect of the present disclosure relates to a hydraulic valve
set including a first counter-balance valve, a second counter-balance valve, and a
selection valve arrangement. The first counter-balance valve provides a first backflow
protection to a first node. The first counter-balance valve includes a first
counter-balance valve opening node. The second counter-balance valve provides a
second back-flow protection to a second node. The second counter-balance valve
includes a second counter-balance valve opening node. The selection valve
arrangement is fluidly connected to the first node, the second node, the first counter
balance valve opening node, and the second counter-balance valve opening node.
The selection valve arrangement is adapted to self-configure in response to a net
spool force produced by a first fluid pressure of the first node and a second fluid
pressure of the second node. When the net spool force is in a first direction, the
selection valve arrangement connects the first node of the first counter-balance valve
to the second counter-balance valve opening node of the second counter-balance
valve. When the net spool force is in a second direction, the selection valve
arrangement connects the second node of the second counter-balance valve to the
first counter-balance valve opening node of the first counter-balance valve.
[0016] Yet another aspect of the present disclosure relates to a hydraulic boom
control system including a pair of counter-balance valves, a selection valve
arrangement, and a pair of control valves. The pair of counter-balance valves is
hydraulically coupled to opposite sides of a hydraulic actuator of a boom. The
selection valve arrangement senses a net unloaded side of the opposite sides of the
hydraulic actuator and opens a one of the pair of counter-balance valves
corresponding to the net unloaded side. The pair of control valves corresponds to
the opposite sides of the hydraulic actuator. A one of the pair of control valves
corresponds to the net unloaded side and transmits a vibratory hydraulic fluid flow
to the net unloaded side of the hydraulic actuator.
[0017] Still another aspect of the present disclosure relates to a method of
controlling vibration in a boom. The method includes: 1) providing a valve
arrangement that includes a pair of counter-balance valves, a pair of control valves,
and a selector valve set; 2) providing a hydraulic actuator that includes a pair of
chambers; 3) configuring the selector valve set with a net load that is applied on the
hydraulic actuator and thereby configures the pair of counter-balance valves; 4)
locking a loaded chamber of the pair of chambers with a respective one of the pair of
counter-balance valves that has been configured by the configuring of the pair of
counter-balance valves; and 5) transmitting vibrating hydraulic fluid with a
respective one of the pair of control valves to an unloaded chamber of the pair of
chambers.
[0018] A variety of additional aspects will be set forth in the description that
follows. These aspects can relate to individual features and to combinations of
features. It is to be understood that both the foregoing general description and the
following detailed description are exemplary and explanatory only and are not
restrictive of the broad concepts upon which the embodiments disclosed herein are
based.
BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 is a schematic illustration of a prior art hydraulic system
including a hydraulic cylinder with a pair of counter-balance valves and a control
valve;
[0020] Figure 2 is a schematic illustration of a hydraulic system including the
hydraulic cylinder and the counter-balance valves of Figure 1 configured with a
hydraulic cylinder control system according to the principles of the present
disclosure;
[0021] Figure 3 is an enlarged portion of Figure 2;
[0022] Figure 4 is a schematic illustration of a hydraulic cylinder suitable for
use with the hydraulic cylinder control system of Figure 2 according to the
principles of the present disclosure;
[0023] Figure 5 is a schematic illustration of a vehicle with a boom system that
is actuated by one or more cylinders and controlled with the hydraulic system of
Figure 2 according to the principles of the present disclosure; and
[0024] Figure 6 is a flow chart illustrating an example method for controlling a
cylinder used to position a boom, such as the hydraulic cylinder of Figure 4,
according to the principles of the present disclosure.
DETAILED DESCRIPTION
[0025] According to the principles of the present disclosure, a hydraulic system
is adapted to actuate the hydraulic cylinder 110, including the counter-balance
valves 300 and 400, and further provide means for counteracting vibrations to which
the hydraulic cylinder 110 is exposed. As illustrated at Figure 2, an example system
600 is illustrated with the hydraulic cylinder 110 (i.e., a hydraulic actuator), the
counter-balance valve 300, and the counter-balance valve 400. The hydraulic
cylinder 110 and the counter-balance valves 300, 400 of Figure 2 may be the same
as those shown in the prior art system 100 of Figure 1. The hydraulic system 600
may therefore be retrofitted to an existing and/or a conventional hydraulic system.
Certain features of the hydraulic cylinder 110 and the counter-balance valves 300,
400 will not be redundantly re-described.
[0026] According to the principles of the present disclosure, similar protection
is provided by the counter-balance valves 300, 400 for the hydraulic cylinder 110
and the hydraulic system 600, as described above with respect to the hydraulic
system 100. In particular, failure of a hydraulic line, a hydraulic valve, and/or a
hydraulic pump will not lead to an uncommanded movement of the hydraulic
cylinder 110 of the hydraulic system 600. The hydraulic architecture of the
hydraulic system 600 further provides the ability to counteract vibrations using the
hydraulic cylinder 110.
[0027] The hydraulic cylinder 110 may hold a net load 90 that, in general, may
urge retraction or extension of a rod 126 of the cylinder 110. The rod 126 is
connected to the piston 120 of the cylinder 110. If the load 90 urges extension of the
hydraulic cylinder 110, the chamber 118 on a rod side 114 of the hydraulic cylinder
110 is pressurized by the load 90, and the counter-balance valve 400 acts to prevent
the release of hydraulic fluid from the chamber 118 and thereby acts as a safety
device to prevent uncommanded extension of the hydraulic cylinder 110. In other
words, the counter-balance valve 400 locks the chamber 118. In addition to
providing safety, the locking of the chamber 118 prevents drifting of the cylinder
110. Vibration control may be provided via the hydraulic cylinder 110 by
dynamically pressurizing and depressurizing the chamber 116 on a head side 112 of
the hydraulic cylinder 110. As the hydraulic cylinder 110, the structure to which the
hydraulic cylinder 110 is attached, and the hydraulic fluid within the chamber 118
are at least slightly deformable, selective application of hydraulic pressure to the
chamber 116 will cause movement (e.g., slight movement) of the hydraulic cylinder
110. Such movement, when timed in conjunction with a system model and dynamic
measurements of the system, may be used to counteract vibrations of the system.
[0028] If the load 90 urges retraction of the hydraulic cylinder 110, the chamber
116 on the head side 112 of the hydraulic cylinder 110 is pressurized by the load 90,
and the counter-balance valve 300 acts to prevent the release of hydraulic fluid from
the chamber 116 and thereby acts as a safety device to prevent uncommanded
retraction of the hydraulic cylinder 110. In other words, the counter-balance valve
300 locks the chamber 116. In addition to providing safety, the locking of the
chamber 116 prevents drifting of the cylinder 110. Vibration control may be
provided via the hydraulic cylinder 110 by dynamically pressurizing and
depressurizing the chamber 118 on the rod side 114 of the hydraulic cylinder 110.
As the hydraulic cylinder 110, the structure to which the hydraulic cylinder 110 is
attached, and the hydraulic fluid within the chamber 116 are at least slightly
deformable, selective application of hydraulic pressure to the chamber 118 will
cause movement (e.g., slight movement) of the hydraulic cylinder 110. Such
movement, when timed in conjunction with the system model and dynamic
measurements of the system, may be used to counteract vibrations of the system.
[0029] The load 90 is depicted as attached via a rod connection 128 to the rod
126 of the cylinder 110. In certain embodiments, the load 90 is a tensile or a
compressive load across the rod connection 128 and the head side 112 of the
cylinder 110.
[0030] As is further described below, the system 600 provides a control
framework and a control mechanism to achieve boom vibration reduction for both
off-highway vehicles and on-highway vehicles. The vibration reduction may be
adapted to reduced vibrations in booms with relatively low natural frequencies (e.g.,
the concrete pump truck boom). The hydraulic system 600 may also be applied to
booms with relatively high natural frequencies (e.g., an excavator boom). Compared
with conventional solutions, the hydraulic system 600 achieves vibration reduction
of booms with fewer sensors and a simplified control structure. The vibration
reduction method may be implemented while assuring protection from failures of
certain hydraulic lines, hydraulic valves, and/or hydraulic pumps, as described
above. The protection from failure may be automatic and/or mechanical. In certain
embodiments, the protection from failure may not require any electrical signal
and/or electrical power to engage. The protection from failure may be a regulatory
requirement (e.g., an ISO standard). The regulatory requirement may require certain
mechanical means of protection that is provided by the hydraulic system 600.
[0031] Certain booms may include stiffness and inertial properties that can
transmit and/or amplify dynamic behavior of the load 90. As the dynamic load 90
may include external force/position disturbances that are applied to the boom, severe
vibrations (i.e., oscillations) may result especially when these disturbances are near
the natural frequency of the boom. Such excitation of the boom by the load 90 may
result in safety issues and/or decrease productivity and/or reliability of the boom
system. By measuring parameters of the hydraulic system 600 and responding
appropriately, effects of the disturbances may be reduced and/or minimized or even
eliminated. The response provided may be effective over a wide variety of
operating conditions. According to the principles of the present disclosure, vibration
control may be achieved using minimal numbers of sensors.
[0032] According to the principles of the present disclosure, hydraulic fluid
flow to the chamber 116 of the head 112 side of the cylinder 110, and hydraulic fluid
flow to the chamber 118 of the rod side 114 of the cylinder 110 are independently
controlled and/or metered to realize boom vibration reduction and also to prevent the
cylinder 110 from drifting. According to the principles of the present disclosure, the
hydraulic system 600 may be configured similar to a conventional counter-balance
system (e.g., the hydraulic system 100).
[0033] In certain embodiments, the hydraulic system 600 is configured to the
conventional counter-balance configuration when a movement of the cylinder 110 is
commanded. As further described below, the hydraulic system 600 enables
measurement of pressures within the chambers 116 and/or 118 of the cylinder 110 at
a remote location away from the hydraulic cylinder 110 (e.g., at sensors 610). This
architecture thereby may reduce mass that would otherwise be positioned on the
boom and/or may simplify routing of hydraulic lines (e.g., hard tubing and hoses).
Performance of machines such as concrete pump booms and/or lift handlers may be
improved by such simplified hydraulic line routing and/or reduced mass on the
boom.
[0034] The counter-balance valves 300 and 400 may be components of a valve
arrangement 840. The valve arrangement 840 may include various hydraulic
components that control and/or regulate hydraulic fluid flow to and/or from the
hydraulic cylinder 110. The valve arrangement 840 may further include a control
valve 700 (e.g., a proportional hydraulic valve), a control valve 800 (e.g., a
proportional hydraulic valve), and a selector valve arrangement 850, described in
detail below. The control valves 700 and/or 800 may be high bandwidth and/or high
resolution control valves.
[0035] In the depicted embodiment of Figure 2, a node 51 is defined at the port
302 of the counter-balance valve 300 and the port 122 of the hydraulic cylinder 110;
a node 52 is defined at the port 402 of the counter-balance valve 400 and the port
124 of the hydraulic cylinder 110; a node 53 is defined at the port 304 of the
counter-balance valve 300 and the port 702 of the hydraulic valve 700; a node 54 is
defined at the port 404 of the counter-balance valve 400 and the port 804 of the
hydraulic valve 800; a node 55 is defined at the port 306 of the counter-balance
valve 300 and a port 352 of a hydraulic valve 350; and a node 56 is defined at the
port 406 of the counter-balance valve 400 and a port 452 of a hydraulic valve 450.
The hydraulic valves 350 and 450 are described in detail below.
[0036] Turning now to Figure 4, the hydraulic cylinder 110 is illustrated with
valve blocks 152, 154. The valve blocks 152, 154 may be separate from each other,
as illustrated, or may be a single combined valve block. The valve block 152 may
be mounted to and/or over the port 122 of the hydraulic cylinder 110, and the valve
block 154 may be mounted to and/or over the port 124 of the hydraulic cylinder 110.
The valve blocks 152, 154 may be directly mounted to the hydraulic cylinder 110.
The valve block 152 may include the counter-balance valve 300, and the valve block
154 may include the counter-balance valve 400. The valve blocks 152 and/or 154
may include additional components of the valve arrangement 840. The valve blocks
152, 154, and/or the single combined valve block may include the selector valve
arrangement 850 and/or components thereof.
[0037] Turning now to Figure 5, an example boom system 10 is described and
illustrated in detail. The boom system 10 may include a vehicle 20 and a boom 30.
The vehicle 20 may include a drive train 22 (e.g., including wheels and/or tracks).
As depicted at Figure 5, rigid retractable supports 24 are further provided on the
vehicle 20. The rigid supports 24 may include feet that are extended to contact the
ground and thereby support and/or stabilize the vehicle 20 by bypassing ground
support away from the drive train 22 and/or suspension of the vehicle 20. In other
vehicles (e.g., vehicles with tracks, vehicles with no suspension), the drive train 22
may be sufficiently rigid and retractable rigid supports 24 may not be needed and/or
provided.
[0038] As depicted at Figure 5, the boom 30 extends from a first end 32 to a
second end 34. As depicted, the first end 32 is rotatably attached (e.g., by a
turntable) to the vehicle 20. The second end 34 may be positioned by actuation of
the boom 30 and thereby be positioned as desired. In certain applications, it may be
desired to extend the second end 34 a substantial distance away from the vehicle 20
in a primarily horizontal direction. In other embodiments, it may be desired to
position the second end 34 vertically above the vehicle 20 a substantial distance. In
still other applications, the second end 34 of the boom 30 may be spaced both
vertically and horizontally from the vehicle 20. In certain applications, the second
end 34 of the boom 30 may be lowered into a hole and thereby be positioned at an
elevation below the vehicle 20.
[0039] As depicted, the boom 30 includes a plurality of boom segments 36.
Adjacent pairs of the boom segments 36 may be connected to each other by a
corresponding joint 38. As depicted, a first boom segment 36i is rotatably attached
to the vehicle 20 at a first joint 38i. The first boom segment 36i may be mounted by
two rotatable joints. For example, the first rotatable joint may include a turntable,
and the second rotatable joint may include a horizontal axis. A second boom
segment 362 is attached to the first boom segment 36i at a second joint 382.
Likewise, a third boom segment 36 is attached to the second boom segment 362 at a
joint 383, and a fourth boom segment 364 is attached to the third boom segment 363
at a fourth joint 384. A relative position/orientation between the adjacent pairs of the
boom segments 36 may be controlled by a corresponding hydraulic cylinder 110.
For example, a relative position/orientation between the first boom segment 36i and
the vehicle 20 is controlled by a first hydraulic cylinder 1lOi. The relative
position/orientation between the first boom segment 361 and the second boom
segment 362 is controlled by a second hydraulic cylinder 1IO2. Likewise, the
relative position/orientation between the third boom segment 363 and the second
boom segment 362 may be controlled by a third hydraulic cylinder 1IO3, and the
relative position/orientation between the fourth boom segment 364 and the third
boom segment 363 may be controlled by a fourth hydraulic cylinder 1104.
[0040] According to the principles of the present disclosure, the boom 30,
including the plurality of boom segments 361-4, may be modeled and vibration of the
boom 30 may be controlled by a controller 640. In particular, the controller 640
may send a signal 652 to the valve 700 and a signal 654 to the valve 800. The signal
652 may include a vibration component 652v, and the signal 654 may include a
vibration component 654v. The vibration component 652v, 654v may cause the
respective valve 700, 800 to produce a vibratory flow and/or a vibratory pressure at
the respective port 702, 804. The vibratory flow and/or the vibratory pressure may
be transferred through the respective counter-balance valve 300, 400 and to the
respective chamber 116, 118 of the hydraulic cylinder 110.
[0041] The signals 652, 654 of the controller 640 may also include move
signals that cause the hydraulic cylinder 110 to extend and retract, respectively, and
thereby actuate the boom 30. As depicted at Figure 3, the controller also sends an
enable signal 642 to the selector valve arrangement 850. As shown, the enable
signal 642 is transmitted to an enabler 630 which, in turn, sends a valve signal 632
to each of the valves 350 and 450. Upon receiving the valve signal 632, the valves
350 and 450 enable the selector valve arrangement 850. Upon enablement, the
selector valve arrangement 850 selects one of the counter-balance valves 300, 400 as
a holding counter-balance valve and selects the other of the counter-balance valves
400, 300 as a vibration flow/pressure transferring counter-balance valve. In the
depicted embodiment, a loaded one of the chambers 116, 118 of the hydraulic
cylinder 110, that is loaded by the net load 90, corresponds to the holding counter
balance valve 300, 400, and an unloaded one of the chambers 118, 116 of the
hydraulic cylinder 110, that is not loaded by the net load 90, corresponds to the
vibration flow/pressure transferring counter-balance valve 400, 300. In certain
embodiments, the vibration component 652v or 654v may be transmitted to the
control valve 800, 700 that corresponds to the unloaded one of the chambers 118,
116 of the hydraulic cylinder 110.
[0042] The controller 640 may receive input from various sensors, including the
sensors 610, position sensors, LVDTs, vision base sensors, etc. and thereby compute
the signals 652, 654, including the vibration component 652v, 654v. The controller
640 may include a dynamic model of the boom 30 and use the dynamic model and
the input from the various sensors to calculate the signals 652, 654, including the
vibration component 652v, 654v. In certain embodiments, the enable signal 642 is
transmitted directly to the valves 350 and 450 from the controller 640.
[0043] In certain embodiments, a single system such as the hydraulic system
600 may be used on one of the hydraulic cylinders 110 (e.g., the hydraulic cylinder
110i). In other embodiments, a plurality of the hydraulic cylinders 110 may each be
actuated by a corresponding hydraulic system 600. In still other embodiments, all of
the hydraulic cylinders 110 may each be actuated by a system such as the system
600.
[0044] As illustrated at Figure 2, the example hydraulic system 600 includes the
proportional hydraulic control valve 700 and the proportional hydraulic control
valve 800. The example hydraulic system 600 further includes the hydraulic valve
350, the hydraulic valve 450, and a hydraulic valve 900. As depicted, the selector
valve arrangement 850 includes the hydraulic valve 350, the hydraulic valve 450,
and the hydraulic valve 900. In the example embodiment, the hydraulic valves 700
and 800 are three-way three position proportional valves, the valves 350 and 450 are
two-way two position valves, and the valve 900 is a four-way two position valve.
The valves 700 and 800 may be combined within a common valve body. In certain
embodiments, some or all of the valves 300, 350, 400, 450, 700, 800, and/or 900 of
the hydraulic system 600 may be combined within a common valve body and/or a
common valve block. In certain embodiments, some or all of the valves 300, 350,
400, 450, 700, 800, and/or 900 of the valve arrangement 840 may be combined
within a common valve body and/or a common valve block. In certain
embodiments, some or all of the valves 300, 350, 400, 450, and/or 900 of the valve
arrangement 840 may be combined within a common valve body and/or a common
valve block. In certain embodiments, some or all of the valves 350, 450, and/or 900
of the selector valve arrangement 850 may be combined within a common valve
body and/or a common valve block.
[0045] Turning now to Figure 2, certain elements of the hydraulic system 600
will be described in detail. The hydraulic valve 700 includes a spool 720 with a first
configuration 722, a second configuration 724, and a third configuration 726. As
illustrated, the spool 720 is at the third configuration 726. The valve 700 includes a
port 702, a port 712, and a port 714. In the first configuration 722, the port 714 is
blocked off, and the port 702 is fluidly connected to the port 712. In the second
configuration 724, the ports 702, 712, 714 are all blocked off. In the third
configuration 726, the port 702 is fluidly connected to the port 714, and the port 712
is blocked off.
[0046] The hydraulic valve 800 includes a spool 820 with a first configuration
822, a second configuration 824, and a third configuration 826. As illustrated, the
spool 820 is at the third configuration 826. The valve 800 includes a port 804, a port
812, and a port 814. In the first configuration 822, the port 812 is blocked off, and
the port 804 is fluidly connected to the port 814. In the second configuration 824,
the ports 804, 812, 814 are all blocked off. In the third configuration 826, the port
804 is fluidly connected to the port 812, and the port 814 is blocked off.
[0047] In the depicted embodiment, a hydraulic line 562 connects the port 302
of the counter-balance valve 300 with the port 122 of the hydraulic cylinder 110 and
with a port 902 of the valve 900. The hydraulic line 562 may include a hydraulic
line 572 that extends to a control port 932 of the valve 900. The hydraulic line 572
may be a capillary line and have a delayed pressure response from the hydraulic line
562. Node 5 1 may include the hydraulic line 562. A hydraulic line 564 may
connect the port 402 of the counter-balance valve 400 with the port 124 of the
hydraulic cylinder 110 and with a port 914 of the valve 900. The hydraulic line 564
may include a hydraulic line 574 that extends to a control port 934 of the valve 900.
The hydraulic line 574 may be a capillary line and have a delayed pressure response
from the hydraulic line 564. Node 52 may include the hydraulic line 564. In certain
embodiments, the hydraulic lines 562, 564 are included in valve blocks, housings,
etc. and may be short in length. A hydraulic line 552 may connect the port 304 of
the counter-balance valve 300 with the port 702 of the hydraulic valve 700 and with
a port 462 of the valve 450. Node 53 may include the hydraulic line 552. Likewise,
a hydraulic line 554 connects the port 404 of the counter-balance valve 400 with the
port 804 of the valve 800 and with a port 362 of the valve 350. Node 54 may
include the hydraulic line 554.
[0048] Sensors that measure temperature and/or pressure at various ports of the
valves 700, 800 may be provided. In particular, a sensor 610i is provided adjacent
the port 702 of the valve 700. As depicted, the sensor 610i is a pressure sensor and
may be used to provide dynamic information about the system 600 and/or the boom
system 10. As depicted at Figure 2, a second sensor 6IO2 is provided adjacent the
port 804 of the hydraulic valve 800. The sensor 6IO2 may be a pressure sensor and
may be used to provide dynamic information about the hydraulic system 600 and/or
the boom system 10. As further depicted at Figure 2, a third sensor 6 IO3 may be
provided adjacent the port 814 of the valve 800, and a fourth sensor 6 IO4 may be
provided adjacent the port 812 of the valve 800.
[0049] In certain embodiments, pressure within the supply line 502 and/or
pressure within the tank line 504 are well known, and the pressure sensors 6 IO1 and
6 IO2 may be used to calculate flow rates through the valves 700 and 800,
respectively. In other embodiments, a pressure difference across the valve 700, 800
is calculated. For example, the pressure sensor 6 IO3 and the pressure sensor 6IO2
may be used when the spool 820 of the valve 800 is at the first position 822 and
thereby calculate flow through the valve 800. Likewise, a pressure difference may
be calculated between the sensor 6 IO2 and the sensor 6 IO4 when the spool 820 of the
valve 800 is at the third configuration 826. The controller 640 may use these
pressures and pressure differences as control inputs.
[0050] Temperature sensors may further be provided at and around the valves
700, 800 and thereby refine the flow measurements by allowing calculation of the
viscosity and/or density of the hydraulic fluid flowing through the valves 700, 800.
The controller 640 may use these temperatures as control inputs.
[0051] Although depicted with the first sensor 6IO1, the second sensor 6 IO2, the
third sensor 6IO 3, and the fourth sensor 6IO4, fewer sensors or more sensors than
those illustrated may be used in alternative embodiments. Further, such sensors may
be positioned at various other locations in other embodiments. In certain
embodiments, the sensors 610 may be positioned within a common valve body. In
certain embodiments, an Ultronics® servo valve available from Eaton Corporation
may be used. The Ultronics® servo valve provides a compact and high performance
valve package that includes two three-way valves (i.e., the valves 700 and 800), the
pressure sensors 610, and a pressure regulation controller. The Eaton Ultronics®
servo valve further includes linear variable differential transformers (LVDT) that
monitor positions of the spools 720, 820, respectively. By using the two three-way
proportional valves 700, 800, the pressures of the chambers 116 and 118 may be
independently controlled. In addition, the flow rates into and/or out of the chambers
116 and 118 may be independently controlled. In other embodiments, the pressure
of one of the chambers 116, 118 may be independently controlled with respect to a
flow rate into and/or out of the opposite chambers 116, 118.
[0052] In comparison with using a single four-way proportional valve 200 (see
Figure 1), the configuration of the hydraulic system 600 can achieve and
accommodate more flexible control strategies with less energy consumption. For
example, when the cylinder 110 is moving, the valve 700, 800 connected with the
metered-out chamber 116, 118 can manipulate the chamber pressure while the
valves 800, 700 connected with the metered-in chamber can regulate the flow
entering the chamber 118, 116. As the metered-out chamber pressure is not coupled
with the metered-in chamber flow, the metered-out chamber pressure can be
regulated to be low and thereby reduce associated throttling losses.
[0053] Turning again to Figure 3, the valves 350, 450, and 900 will be
described in detail. The valve 350 is a two-way two position valve. In particular,
the valve 350 includes the first port 352, the second port 362, and a third port 364.
The valve 350 includes a spool 370 with a first configuration 372 and a second
configuration 374. In the first configuration 372 (depicted at Figure 3), the port 352
and the port 362 are connected, and the port 364 is blocked. In the configuration
374, the port 364 and the port 352 are connected and the port 362 is blocked. As
depicted, the valve 350 includes a solenoid 376 and a spring 378. The solenoid 376
and the spring 378 can be used to move the spool 370 between the first configuration
372 and the second configuration 374.
[0054] The valve 450 is also a two-way two position valve. In particular, the
valve 450 includes the first port 452, the second port 462, and a third port 464. The
valve 450 includes a spool 470 with a first configuration 472 and a second
configuration 474. In the first configuration 472 (also depicted at Figure 3), the port
452 and the port 462 are connected, and the port 464 is blocked. In the
configuration 474, the port 464 and the port 452 are connected and the port 462 is
blocked. As depicted, the valve 470 includes a solenoid 476 and a spring 478. The
solenoid 476 and the spring 478 can be used to move the spool 470 between the first
configuration 472 and the second configuration 474.
[0055] The valve 900 is a four-way two position valve. In particular, the valve
900 includes the first port 902, a second port 904, a third port 912, and the fourth
port 914. The valve 900 includes a spool 920 that may be configured in a first
configuration 922 (depicted at Figure 3) and a second configuration 924. In the first
configuration, the ports 904 and 914 are connected, and the ports 902 and 912 are
blocked. In the second configuration 924, the ports 902 and 912 are connected, and
the ports 904 and 914 are blocked. The spool 920 of the valve 900 is moved by a
combination of springs 926 and 928 and pressure applied at the first control port 932
and the second control port 934.
[0056] When the pressure is applied to the control port 932, the spring 926 is
compressed, and the spool 920 is urged toward the configuration 924. Likewise,
when the pressure is applied to the control port 934, the spring 928 is compressed,
and the spool 920 is urged toward the configuration 922. Pressure applied to the
port 932 acts on an area 936. Likewise, pressure applied at the port 934 acts on an
area 938. As an area 132 (e.g., a head side area) acted on by pressure within the
chamber 116 may be different than an area 134 (e.g., a rod side area) acted on by
pressure in the chamber 118, the areas 936, 938 may also be different and thereby
compensate for the area differences between the head side 112 and the rod side 114
of the cylinder 110.
[0057] To prevent excessive shuttling of the valve 900 when the net load 90 is
light, a dead-band may be defined by the valve 900. In certain embodiments, a
hysteresis of the springs 926 and/or 928 ranges from about 10% to about 20% of a
maximum full scale load. The maximum full scale load may be defined when either
the chamber 116 or the chamber 118 is at its maximum holding capacity and
supplies a corresponding pressure to the valve 900.
[0058] The valve 350 is connected to the fluid line 554 at the port 362.
Likewise, the valve 450 is connected to the fluid line 552 at the port 462. A fluid
line 582 connects the port 364 of the valve 350 to the port 904 of the valve 900. A
node 57 may include the fluid line 582. Likewise, a fluid line 584 connects the port
464 of the valve 450 to the port 912 of the valve 900. A node 58 may include the
fluid line 584. The fluid line 562 further connects to the port 902 of the valve 900.
Likewise, the fluid line 564 further connects to the port 914 of the valve 900. As
depicted at Figure 3, the fluid line 574 extends from the fluid line 564 and connects
to the port 934. The fluid line 574 may be at substantially a same pressure as the
fluid line 564. In other embodiments, the fluid line 574 may be a capillary line or
have other flow restriction such as an orifice. The pressure at the port 934 may
thereby be different from the pressure in the fluid line 564, at least instantaneously
different. Likewise, the fluid line 572 extends from the fluid line 562 and connects
to the port 932. The fluid line 572 may be at substantially a same pressure as the
fluid line 562. In other embodiments, the fluid line 572 may be a capillary line or
have other flow restriction such as an orifice. The pressure at the port 932 may
thereby be different from the pressure in the fluid line 562, at least instantaneously
different.
[0059] The supply line 502, the return line 504, the hydraulic line 552, the
hydraulic line 554, the hydraulic line 562, the hydraulic line 564, the hydraulic line
572, the hydraulic line 574, the hydraulic line 582, and/or the hydraulic line 584 may
belong to a line set 550.
[0060] Turning now to Figures 2 and 3, the operation of the selector valve
arrangement 850 will be described in detail. As mentioned above, the controller 640
sends a signal to the enabler 630 which, in turn, sends a signal to the valves 350 and
450. In certain embodiments, the signal sent to the valves 350 and 450 is
synchronized and sent simultaneously to both of the valves 350 and 450. Upon the
signal to the valves 350, 450 being a disabled signal, the selector valve arrangement
850 configures the valve arrangement 840 in a conventional counter-balance
arrangement. The conventional counter-balance arrangement may be engaged when
moving the boom 30 under move commands to the control valves 700, 800. In the
disabled configuration, the valve 900 of the selector valve arrangement 850 may still
sense the pressures in the first chamber 116 and the second chamber 118. The valve
900 may thereby continue to shuttle between the first configuration 922 and the
second configuration 924, even when the selector valve arrangement 850 is disabled.
[0061] When the controller 640 sends an enable signal to the enabler 630, and
the enabler 630 sends an enable signal to the valves 350, 450, the valve 350 moves
to the second configuration 374, and the valve 450 moves to the second
configuration 474. In certain embodiments, in the enabled configuration, the valve
arrangement 840 effectively locks the hydraulic cylinder 110 from moving. In
particular, regardless of the position of the valve 900, one of the valves 350 or 450
will not receive high pressure and therefore will not transmit the high pressure to the
corresponding counter-balance valve 300, 400. As mentioned above, the enabled
configuration of the selector valve arrangement 850 may be used to lock one of the
chambers 116, 118 of the hydraulic cylinder 110 while sending vibratory pressure to
an opposite one of the chambers 118, 116. The vibratory pressure may be used to
counteract external vibrations encountered by the boom 30.
[0062] When the net load 90 is carried by the chamber 118, pressure from the
chamber 118 is applied at the port 934 of the valve 900 and urges the valve 900
toward the first configuration 922. In the first configuration 922, the port 904 and
the port 914 of the valve 900 are connected and thereby connect the node 52 with
the node 57. As the valve 350 is enabled, and in the second configuration 374, the
nodes 52 and 57 are further connected to the node 55. A passage for the high
pressure fluid from the chamber 118 is thereby opened to the port 306 of the
counter-balance valve 300. The counter-balance valve 300 is thereby opened for b i
directional flow between the ports 302 and 304. Opening up the counter-balance
valve 300 to bi-directional flow allows the control valve 700 to apply and release
hydraulic fluid pressure from the chamber 116 under the control of the controller
640.
[0063] When the net load 90 is carried by the chamber 116, pressure from the
chamber 116 is applied at the port 932 of the valve 900 and urges the valve 900
toward the second configuration 924. In the second configuration 924, the port 902
and the port 912 of the valve 900 are connected and thereby connect the node 5 1
with the node 58. As the valve 450 is enabled, and in the second configuration 474,
the nodes 51 and 58 are further connected to the node 56. A passage for the high
pressure fluid from the chamber 116 is thereby opened to the port 406 of the
counter-balance valve 400. The counter-balance valve 400 is thereby opened for b i
directional flow between the ports 402 and 404. Opening up the counter-balance
valve 400 to bi-directional flow allows the control valve 800 to apply and release
hydraulic fluid pressure from the chamber 118 under the control of the controller
640.
[0064] As schematically illustrated at Figure 2, an environmental vibration load
960 is imposed as a component of the net load 90 on the hydraulic cylinder 110. As
depicted at Figure 2, the vibration load component 960 does not include a steady
state load component. In certain applications, the vibration load 960 includes
dynamic loads such as wind loads, momentum loads of material that may be moved
along the boom 30, inertial loads from moving the vehicle 20, and/or other dynamic
loads. The steady state load may include gravity loads that may vary depending on
the configuration of the boom 30. The vibration load 960 may be sensed and
estimated/measured by the various sensors 610 and/or other sensors. The controller
640 may process these inputs and use a model of the dynamic behavior of the boom
system 10 and thereby calculate and transmit an appropriate vibration signal 652v,
654v. The signal 652v, 654v is transformed into hydraulic pressure and/or hydraulic
flow at the corresponding valve 700, 800. The vibratory pressure/flow is transferred
through the corresponding counter-balance valve 300, 400 and to the corresponding
chamber 116, 118 of the hydraulic cylinder 110. The hydraulic cylinder 110
transforms the vibratory pressure and/or the vibratory flow into a vibratory response
force/displacement 950. When the vibratory response 950 and the vibration load
960 are superimposed on the boom 30, a resultant vibration 970 is produced. The
resultant vibration 970 may be substantially less than a vibration of the boom 30
generated without the vibratory response 950. Vibration of the boom 30 may
thereby be controlled and/or reduced enhancing the performance, durability, safety,
usability, etc. of the boom system 10. The vibratory response 950 of the hydraulic
cylinder 110 is depicted at Figure 2 as a dynamic component of the output of the
hydraulic cylinder 110. The hydraulic cylinder 110 may also include a steady state
component (i.e., a static component) that may reflect static loads such as gravity.
[0065] Turning now to Figure 6, an example method 1000 of controlling
vibration in a boom system 10 is given. In particular, the method 1000 may begin at
a start point 1002. Upon starting at the start point 1002, a decision point 1004 is
reached. If the boom 30 is in use, control is advanced to a decision point 1006. If
the boom 30 is not in use, a finish point 1024 is reached. If the boom 30 is moving
at the decision point 1006, control is advanced to step 1008 where the enabler 630 is
set to off. Control is then advanced to step 1010 where conventional boom moving
control may be implemented. Control then advances to the decision point 1004. At
the decision point 1006, if the boom 30 is not moving, control advances to step 1012
where the enabler 630 is set to on. Control then advances to decision point 1014. At
the decision point 1014, if the net load 90 is carried by the chamber 118, then
control is advanced to step 1016 where the chamber 118 of the hydraulic cylinder
110 is locked. Control then advances to step 1018 where vibration control is
executed on the chamber 116 and control is then advanced to the decision point
1004. At the decision point 1014, if the net load 90 is carried by the chamber 116,
control is advanced to step 1020. At the step 1020, the chamber 116 is locked and
control then advances to step 1022. At the step 1022, vibration control is executed
on the chamber 118. Control is then advanced to the decision point 1004.
[0066] Various modifications and alterations of this disclosure will become
apparent to those skilled in the art without departing from the scope and spirit of this
disclosure, and it should be understood that the scope of this disclosure is not to be
unduly limited to the illustrative embodiments set forth herein.
WHAT IS CLAIMED IS:
1. A hydraulic system (600) comprising:
a hydraulic cylinder ( 110) including a first chamber ( 116, 118) and a second
chamber (118, 116);
a first counter-balance valve (300) fluidly connected to the first chamber at a
first node (51);
a second counter-balance valve (400) fluidly connected to the second
chamber at a second node (52);
a first control valve (700) fluidly connected to the first counter-balance valve
at a third node (53);
a second control valve (800) fluidly connected to the second counter-balance
valve at a fourth node (54); and
a selection valve arrangement (850) fluidly connected to the first node and
the second node, the selection valve arrangement adapted to self-configure to a first
configuration set when a net load (90) is supported by the second chamber of the
hydraulic cylinder and further adapted to self-configure to a second configuration set
when the net load is supported by the first chamber of the hydraulic cylinder;
wherein when the selection valve arrangement is enabled and at the first
configuration set, the first control valve is adapted to fluctuate a first hydraulic fluid
flow to the first chamber and thereby cause the hydraulic cylinder to produce a first
vibratory response (950).
2. The hydraulic system of claim 1, wherein when the selection valve
arrangement is enabled and at the second configuration set, the second control valve
is adapted to fluctuate a second hydraulic fluid flow to the second chamber and
thereby cause the hydraulic cylinder to produce a second vibratory response (950).
3. The hydraulic system of claim 1, wherein the first chamber is a rod chamber
( 118) and the second chamber is a head chamber ( 116).
4. The hydraulic system of claim 1, wherein the first chamber is a head
chamber (116) and the second chamber is a rod chamber ( 118).
5. The hydraulic system of claim 1, wherein the first counter-balance valve, the
second counter-balance valve, and the selection valve arrangement are physically
mounted to the hydraulic cylinder.
6. The hydraulic system of claim 1, wherein the selection valve arrangement is
configured to be enabled when a first valve command (652) sent to the first control
valve is a first cylinder vibration command and a second valve command (654) sent
to the second control valve is a second cylinder vibration command.
7. The hydraulic system of claim 6, wherein the selection valve arrangement is
configured to be enabled when the first cylinder vibration command sent to the first
control valve targets a vibratory pressure output response of the first control valve.
8. The hydraulic system of claim 1, wherein the selection valve arrangement
includes a first valve (350) fluidly connected to the first counter-balance valve at a
fifth node (55) and a second valve (450) fluidly connected to the second counter
balance valve at a sixth node (56) and wherein the selection valve arrangement is not
enabled when the first valve fluidly connects the fifth node to the fourth node and
the second valve fluidly connects the sixth node to the third node.
9. The hydraulic system of claim 8, wherein when the selection valve
arrangement is not enabled the first counter-balance valve and the second counter
balance valve are adapted to provide the hydraulic cylinder with conventional
counter-balance valve protection.
10. The hydraulic system of claim 8, wherein the selection valve arrangement
includes a third valve (900) fluidly connected to the first valve at a seventh node
(57) and fluidly connected to the second valve at an eighth node (58) and wherein
the selection valve arrangement is enabled and in the first configuration set when the
third valve fluidly connects the second node to the seventh node and the first valve
fluidly connects the fifth node to the seventh node.
11. The hydraulic system of claim 10, wherein the selection valve arrangement is
enabled and in the first configuration set when the second valve fluidly connects the
sixth node to the eighth node.
12. The hydraulic system of claim 8, wherein the selection valve arrangement
includes a third valve (900) fluidly connected to the first valve at a seventh node
(57) and fluidly connected to the second valve at an eighth node (58) and wherein
the selection valve arrangement is enabled and in the second configuration set when
the third valve fluidly connects the first node to the eighth node and the second valve
fluidly connects the sixth node to the eighth node.
13. The hydraulic system of claim 12, wherein the selection valve arrangement is
enabled and in the second configuration set when the first valve fluidly connects the
fifth node to the seventh node.
14. The hydraulic system of claim 1, wherein the selection valve arrangement
includes a selector valve (900) fluidly connected to the first node and the second
node, wherein pressure at the second node from the second chamber urges the
selector valve to connect the pressure of the second chamber with the first counter
balance valve when the selection valve arrangement is enabled and thereby selfconfigure
to the first configuration set and thereby allow the first control valve to
fluidly transmit the first hydraulic fluid flow to the first chamber.
15. The hydraulic system of claim 2, wherein the selection valve arrangement
includes a selector valve (900) fluidly connected to the first node and the second
node, wherein differential pressure between the first node and the second node
multiplied by corresponding areas of the selector valve urges the selector valve to
connect the pressure of the second chamber with the first counter-balance valve
when the selection valve arrangement is enabled and the net load is supported by the
second chamber thereby allowing the first control valve to fluidly transmit the first
hydraulic fluid flow to the first chamber and urges the selector valve to connect the
pressure of the first chamber with the second counter-balance valve when the
selection valve arrangement is enabled and the net load is supported by the first
chamber thereby allowing the second control valve to fluidly transmit the second
hydraulic fluid flow to the second chamber.
16. The hydraulic system of claim 15, wherein the corresponding areas of the
selector valve include a first area operated on by a first pressure from the first node
and include a second area operated on by a second pressure from the second node
and wherein a first effective area of the first chamber is proportionate to the first
area and a second effective area of the second chamber is proportionate to the
second area.
17. The hydraulic system of claim 16, wherein the selector valve includes a
dead-band that limits switching between the first configuration set and the second
configuration set until a differential force resulting from the differential pressure
acting over the respective first and second areas of the selector valve exceeds a
predetermined force difference.
18. A hydraulic valve set (840) comprising:
a first counter-balance valve (300) providing a first back-flow protection to a
first node (51), the first counter-balance valve including a first counter-balance valve
opening node (56);
a second counter-balance valve (400) providing a second back-flow
protection to a second node (52), the second counter-balance valve including a
second counter-balance valve opening node (56); and
a selection valve arrangement (850) fluidly connected to the first node, the
second node, the first counter-balance valve opening node, and the second counter
balance valve opening node, the selection valve arrangement adapted to selfconfigure
in response to a net spool force produced by a first fluid pressure of the
first node and a second fluid pressure of the second node;
wherein when the net spool force is in a first direction the selection valve
arrangement connects the first node of the first counter-balance valve to the second
counter-balance valve opening node of the second counter-balance valve; and
wherein when the net spool force is in a second direction the selection valve
arrangement connects the second node of the second counter-balance valve to the
first counter-balance valve opening node of the first counter-balance valve.
19. The hydraulic valve set of claim 18, further comprising:
a first control valve (700) fluidly connected to the first counter-balance valve
at a third node (53); and
a second control valve (800) fluidly connected to the second counter-balance
valve at a fourth node (54).
20. A hydraulic boom control system (600) comprising:
a pair of counter-balance valves hydraulically coupled to opposite sides of a
hydraulic actuator of a boom;
a selection valve arrangement (850), the selection valve arrangement sensing
a net unloaded side of the opposite sides of the hydraulic actuator and opening a one
of the pair of counter-balance valves corresponding to the net unloaded side; and
a pair of control valves corresponding to the opposite sides of the hydraulic
actuator, a one of the pair of control valves corresponding to the net unloaded side
transmitting a vibratory hydraulic fluid flow to the net unloaded side of the hydraulic
actuator.
21. A method of controlling vibration in a boom, the method comprising:
providing a valve arrangement including a pair of counter-balance valves, a
pair of control valves, and a selector valve set;
providing a hydraulic actuator including a pair of chambers;
configuring the selector valve set with a net load applied on the hydraulic
actuator and thereby configuring the pair of counter-balance valves;
locking a loaded chamber of the pair of chambers with a respective one of
the pair of counter-balance valves that has been configured by the configuring of the
pair of counter-balance valves; and
transmitting vibrating hydraulic fluid with a respective one of the pair of
control valves to an unloaded chamber of the pair of chambers.CROSS-REFERENCE TO RELATED APPLICATION(S)
[0001] This application is being filed on 13 May 2014, as a PCT International
Patent application and claims priority to U.S. Patent Application Serial No.
61/829,796 filed on 3 1 May 2013, the disclosure of which is incorporated herein by
reference in its entirety.
BACKGROUND
[0002] Various off-road and on-road vehicles include booms. For example,
certain concrete pump trucks include a boom configured to support a passage
through which concrete is pumped from a base of the concrete pump truck to a
location at a construction site where the concrete is needed. Such booms may be
long and slender to facilitate pumping the concrete a substantial distance away from
the concrete pump truck. In addition, such booms may be relatively heavy. The
combination of the substantial length and mass properties of the boom may lead to
the boom exhibiting undesirable dynamic behavior. In certain booms in certain
configurations, a natural frequency of the boom may be about 0.3 Hertz (i.e., 3.3
seconds per cycle). In certain booms in certain configurations, the natural frequency
of the boom may be less than about 1 Hertz (i.e., 1 second per cycle). In certain
booms in certain configurations, the natural frequency of the boom may range from
about 0.1 Hertz to about 1 Hertz (i.e., 10 seconds per cycle to 1 second per cycle).
For example, as the boom is moved from place to place, the starting and stopping
loads that actuate the boom may induce vibration (i.e., oscillation). Other load
sources that may excite the boom include momentum of the concrete as it is pumped
along the boom, starting and stopping the pumping of concrete along the boom,
wind loads that may develop against the boom, and/or other miscellaneous loads.
[0003] Other vehicles with booms include fire trucks in which a ladder may be
included on the boom, fire trucks which include a boom with plumbing to deliver
water to a desired location, excavators which use a boom to move a shovel, telehandlers
which use a boom to deliver materials around a construction site, cranes
which may use a boom to move material from place to place, etc.
[0004] In certain boom applications, including those mentioned above, a
hydraulic cylinder may be used to actuate the boom. By actuating the hydraulic
cylinder, the boom may be deployed and retracted, as desired, to achieve a desired
placement of the boom. In certain applications, counter-balance valves may be used
to control actuation of the hydraulic cylinder and/or to prevent the hydraulic cylinder
from uncommanded movement (e.g., caused by a component failure). A prior art
system 100, including a first counter-balance valve 300 and a second counter
balance valve 400 is illustrated at Figure 1. The counter-balance valve 300 controls
and/or transfers hydraulic fluid flow into and out of a first chamber 116 of a
hydraulic cylinder 110 of the system 100. Likewise, the second counter-balance
valve 400 controls and/or transfers hydraulic fluid flow into and out of a second
chamber 118 of the hydraulic cylinder 110. In particular, a port 302 of the counter
balance valve 300 is connected to a port 122 of the hydraulic cylinder 110.
Likewise, a port 402 of the counter-balance valve 400 is fluidly connected to a port
124 of the hydraulic cylinder 110. As depicted, a fluid line 522 schematically
connects the port 302 to the port 122, and a fluid line 524 connects the port 402 to
the port 124. The counter-balance valves 300, 400 are typically mounted directly to
the hydraulic cylinder 110. The port 302 may directly connect to the port 122, and
the port 402 may directly connect to the port 124.
[0005] The counter-balance valves 300, 400 provide safety protection to the
system 100. In particular, before movement of the cylinder 110 can occur, hydraulic
pressure must be applied to both of the counter-balance valves 300, 400. The
hydraulic pressure applied to one of the counter-balance valves 300, 400 is delivered
to a corresponding one of the ports 122, 124 of the hydraulic cylinder 110 thereby
urging a piston 120 of the hydraulic cylinder 110 to move. The hydraulic pressure
applied to an opposite one of the counter-balance valves 400, 300 allows hydraulic
fluid to flow out of the opposite port 124, 122 of the hydraulic cylinder 110. By
requiring hydraulic pressure at the counter-balance valve 300, 400 corresponding to
the port 122, 124 that is releasing the hydraulic fluid, a failure of a hydraulic line, a
valve, a pump, etc. that supplies or receives the hydraulic fluid from the hydraulic
cylinder 110 will not result in uncommanded movement of the hydraulic cylinder
110.
[0006] Turning now to Figure 1, the system 100 will be described in detail. As
depicted, a four-way three position hydraulic control valve 200 is used to control the
hydraulic cylinder 110. The control valve 200 includes a spool 220 that may be
positioned at a first configuration 222, a second configuration 224, or a third
configuration 226. As depicted at Figure 1, the spool 220 is at the first configuration
222. In the first configuration 222, hydraulic fluid from a supply line 502 is
transferred from a port 212 of the control valve 200 to a port 202 of the control valve
200 and ultimately to the port 122 and the chamber 116 of the hydraulic cylinder
110. The hydraulic cylinder 110 is thereby urged to extend and hydraulic fluid in
the chamber 118 of the hydraulic cylinder 110 is urged out of the port 124 of the
cylinder 110. Hydraulic fluid leaving the port 124 returns to a hydraulic tank by
entering a port 204 of the control valve 200 and exiting a port 214 of the control
valve 200 into a return line 504. In certain embodiments, the supply line 502
supplies hydraulic fluid at a constant or at a near constant supply pressure. In
certain embodiments, the return line 504 receives hydraulic fluid at a constant or at a
near constant return pressure.
[0007] When the spool 220 is positioned at the second configuration 224,
hydraulic fluid flow between the port 202 and the port 212 and hydraulic fluid flow
between the port 204 and the port 214 is effectively stopped, and hydraulic fluid
flow to and from the cylinder 110 is effectively stopped. Thus, the hydraulic
cylinder 110 remains substantially stationary when the spool 220 is positioned at the
second configuration 224.
[0008] When the spool 220 is positioned at the third configuration 226,
hydraulic fluid flow from the supply line 502 enters through the port 212 and exits
through the port 204 of the valve 200. The hydraulic fluid flow is ultimately
delivered to the port 124 and the chamber 118 of the hydraulic cylinder 110 thereby
urging retraction of the cylinder 110. As hydraulic fluid pressure is applied to the
chamber 118, hydraulic fluid within the chamber 116 is urged to exit through the
port 122. Hydraulic fluid exiting the port 122 enters the port 202 and exits the port
214 of the valve 200 and thereby returns to the hydraulic tank. An operator and/or a
control system may move the spool 220 as desired and thereby achieve extension,
retraction, and/or locking of the hydraulic cylinder 110.
[0009] A function of the counter-balance valves 300, 400 when the hydraulic
cylinder 110 is extending will now be discussed in detail. Upon the spool 220 of the
valve 200 being placed in the first configuration 222, hydraulic fluid pressure from
the supply line 502 pressurizes a hydraulic line 512. The hydraulic line 512 is
connected between the port 202 of the control valve 200, a port 304 of the counter
balance valve 300, and a port 406 of the counter-balance valve 400. Hydraulic fluid
pressure applied at the port 304 of the counter-balance valve 300 flows past a spool
310 of the counter-balance valve 300 and past a check valve 320 of the counterbalance
valve 300 and thereby flows from the port 304 to the port 302 through a
passage 322 of the counter-balance valve 300. The hydraulic fluid pressure further
flows through the port 122 and into the chamber 116 (i.e., a meter- in chamber).
Pressure applied to the port 406 of the counter-balance valve 400 moves a spool 410
of the counter-balance valve 400 against a spring 412 and thereby compresses the
spring 412. Hydraulic fluid pressure applied at the port 406 thereby opens a passage
424 between the port 402 and the port 404. By applying hydraulic pressure at the
port 406, hydraulic fluid may exit the chamber 118 (i.e., a meter-out chamber)
through the port 124, through the line 524, through the passage 424 of the counter
balance valve 400 across the spool 410, through a hydraulic line 514, through the
valve 200, and through the return line 504 into the tank. The meter-out side may
supply backpressure.
[0010] A function of the counter-balance valves 300, 400 when the hydraulic
cylinder 110 is retracting will now be discussed in detail. Upon the spool 220 of the
valve 200 being placed in the third configuration 226, hydraulic fluid pressure from
the supply line 502 pressurizes the hydraulic line 514. The hydraulic line 514 is
connected between the port 204 of the control valve 200, a port 404 of the counter
balance valve 400, and a port 306 of the counter-balance valve 300. Hydraulic fluid
pressure applied at the port 404 of the counter-balance valve 400 flows past the
spool 410 of the counter-balance valve 400 and past a check valve 420 of the
counter-balance valve 400 and thereby flows from the port 404 to the port 402
through a passage 422 of the counter-balance valve 400. The hydraulic fluid
pressure further flows through the port 124 and into the chamber 118 (i.e., a meter-in
chamber). Hydraulic pressure applied to the port 306 of the counter-balance valve
300 moves the spool 310 of the counter-balance valve 300 against a spring 312 and
thereby compresses the spring 312. Hydraulic fluid pressure applied at the port 306
thereby opens a passage 324 between the port 302 and the port 304. By applying
hydraulic pressure at the port 306, hydraulic fluid may exit the chamber 116 (i.e., a
meter-out chamber) through the port 122, through the line 522, through the passage
line 512, through the valve 200, and through the return line 504 into the tank. The
meter-out side may supply backpressure.
[0011] The supply line 502, the return line 504, the hydraulic line 512, the
hydraulic line 514, the hydraulic line 522, and/or the hydraulic line 524 may belong
to a line set 500.
SUMMARY
[0012] One aspect of the present disclosure relates to systems and methods for
reducing boom dynamics (e.g., boom bounce) of a boom while providing counter
balance valve protection to the boom.
[0013] Another aspect of the present disclosure relates to a hydraulic system
including a hydraulic cylinder, a first counter-balance valve, a second counter
balance valve, a first control valve, a second control valve, and a selection valve
arrangement. The hydraulic cylinder includes a first chamber and a second
chamber. The first counter-balance valve fluidly connects to the first chamber at a
first node, and the second counter-balance valve fluidly connects to the second
chamber at a second node. The first control valve fluidly connects to the first
counter-balance valve at a third node, and a second control valve fluidly connects to
the second counter-balance valve at a fourth node. The selection valve arrangement
is fluidly connected to the first node and the second node and is adapted to selfconfigure
to a first configuration set when a net load is supported by the second
chamber of the hydraulic cylinder and is further adapted to self-configure to a
second configuration set when the net load is supported by the first chamber of the
hydraulic cylinder. When the selection valve arrangement is enabled and at the first
configuration set, the first control valve is adapted to fluctuate a first hydraulic fluid
flow to the first chamber and thereby cause the hydraulic cylinder to produce a first
vibratory response.
[0014] In certain embodiments, when the selection valve arrangement is
enabled and at the second configuration set, the second control valve is adapted to
fluctuate a second hydraulic fluid flow to the second chamber and thereby cause the
hydraulic cylinder to produce a second vibratory response. In certain embodiments,
the first chamber is a rod chamber and the second chamber is a head chamber. In
other embodiments, the first chamber is a head chamber and the second chamber is a
rod chamber. In certain embodiments, the first counter-balance valve, the second
counter-balance valve, and the selection valve arrangement are physically mounted
to the hydraulic cylinder.
[0015] Still another aspect of the present disclosure relates to a hydraulic valve
set including a first counter-balance valve, a second counter-balance valve, and a
selection valve arrangement. The first counter-balance valve provides a first backflow
protection to a first node. The first counter-balance valve includes a first
counter-balance valve opening node. The second counter-balance valve provides a
second back-flow protection to a second node. The second counter-balance valve
includes a second counter-balance valve opening node. The selection valve
arrangement is fluidly connected to the first node, the second node, the first counter
balance valve opening node, and the second counter-balance valve opening node.
The selection valve arrangement is adapted to self-configure in response to a net
spool force produced by a first fluid pressure of the first node and a second fluid
pressure of the second node. When the net spool force is in a first direction, the
selection valve arrangement connects the first node of the first counter-balance valve
to the second counter-balance valve opening node of the second counter-balance
valve. When the net spool force is in a second direction, the selection valve
arrangement connects the second node of the second counter-balance valve to the
first counter-balance valve opening node of the first counter-balance valve.
[0016] Yet another aspect of the present disclosure relates to a hydraulic boom
control system including a pair of counter-balance valves, a selection valve
arrangement, and a pair of control valves. The pair of counter-balance valves is
hydraulically coupled to opposite sides of a hydraulic actuator of a boom. The
selection valve arrangement senses a net unloaded side of the opposite sides of the
hydraulic actuator and opens a one of the pair of counter-balance valves
corresponding to the net unloaded side. The pair of control valves corresponds to
the opposite sides of the hydraulic actuator. A one of the pair of control valves
corresponds to the net unloaded side and transmits a vibratory hydraulic fluid flow
to the net unloaded side of the hydraulic actuator.
[0017] Still another aspect of the present disclosure relates to a method of
controlling vibration in a boom. The method includes: 1) providing a valve
arrangement that includes a pair of counter-balance valves, a pair of control valves,
and a selector valve set; 2) providing a hydraulic actuator that includes a pair of
chambers; 3) configuring the selector valve set with a net load that is applied on the
hydraulic actuator and thereby configures the pair of counter-balance valves; 4)
locking a loaded chamber of the pair of chambers with a respective one of the pair of
counter-balance valves that has been configured by the configuring of the pair of
counter-balance valves; and 5) transmitting vibrating hydraulic fluid with a
respective one of the pair of control valves to an unloaded chamber of the pair of
chambers.
[0018] A variety of additional aspects will be set forth in the description that
follows. These aspects can relate to individual features and to combinations of
features. It is to be understood that both the foregoing general description and the
following detailed description are exemplary and explanatory only and are not
restrictive of the broad concepts upon which the embodiments disclosed herein are
based.
BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 is a schematic illustration of a prior art hydraulic system
including a hydraulic cylinder with a pair of counter-balance valves and a control
valve;
[0020] Figure 2 is a schematic illustration of a hydraulic system including the
hydraulic cylinder and the counter-balance valves of Figure 1 configured with a
hydraulic cylinder control system according to the principles of the present
disclosure;
[0021] Figure 3 is an enlarged portion of Figure 2;
[0022] Figure 4 is a schematic illustration of a hydraulic cylinder suitable for
use with the hydraulic cylinder control system of Figure 2 according to the
principles of the present disclosure;
[0023] Figure 5 is a schematic illustration of a vehicle with a boom system that
is actuated by one or more cylinders and controlled with the hydraulic system of
Figure 2 according to the principles of the present disclosure; and
[0024] Figure 6 is a flow chart illustrating an example method for controlling a
cylinder used to position a boom, such as the hydraulic cylinder of Figure 4,
according to the principles of the present disclosure.
DETAILED DESCRIPTION
[0025] According to the principles of the present disclosure, a hydraulic system
is adapted to actuate the hydraulic cylinder 110, including the counter-balance
valves 300 and 400, and further provide means for counteracting vibrations to which
the hydraulic cylinder 110 is exposed. As illustrated at Figure 2, an example system
600 is illustrated with the hydraulic cylinder 110 (i.e., a hydraulic actuator), the
counter-balance valve 300, and the counter-balance valve 400. The hydraulic
cylinder 110 and the counter-balance valves 300, 400 of Figure 2 may be the same
as those shown in the prior art system 100 of Figure 1. The hydraulic system 600
may therefore be retrofitted to an existing and/or a conventional hydraulic system.
Certain features of the hydraulic cylinder 110 and the counter-balance valves 300,
400 will not be redundantly re-described.
[0026] According to the principles of the present disclosure, similar protection
is provided by the counter-balance valves 300, 400 for the hydraulic cylinder 110
and the hydraulic system 600, as described above with respect to the hydraulic
system 100. In particular, failure of a hydraulic line, a hydraulic valve, and/or a
hydraulic pump will not lead to an uncommanded movement of the hydraulic
cylinder 110 of the hydraulic system 600. The hydraulic architecture of the
hydraulic system 600 further provides the ability to counteract vibrations using the
hydraulic cylinder 110.
[0027] The hydraulic cylinder 110 may hold a net load 90 that, in general, may
urge retraction or extension of a rod 126 of the cylinder 110. The rod 126 is
connected to the piston 120 of the cylinder 110. If the load 90 urges extension of the
hydraulic cylinder 110, the chamber 118 on a rod side 114 of the hydraulic cylinder
110 is pressurized by the load 90, and the counter-balance valve 400 acts to prevent
the release of hydraulic fluid from the chamber 118 and thereby acts as a safety
device to prevent uncommanded extension of the hydraulic cylinder 110. In other
words, the counter-balance valve 400 locks the chamber 118. In addition to
providing safety, the locking of the chamber 118 prevents drifting of the cylinder
110. Vibration control may be provided via the hydraulic cylinder 110 by
dynamically pressurizing and depressurizing the chamber 116 on a head side 112 of
the hydraulic cylinder 110. As the hydraulic cylinder 110, the structure to which the
hydraulic cylinder 110 is attached, and the hydraulic fluid within the chamber 118
are at least slightly deformable, selective application of hydraulic pressure to the
chamber 116 will cause movement (e.g., slight movement) of the hydraulic cylinder
110. Such movement, when timed in conjunction with a system model and dynamic
measurements of the system, may be used to counteract vibrations of the system.
[0028] If the load 90 urges retraction of the hydraulic cylinder 110, the chamber
116 on the head side 112 of the hydraulic cylinder 110 is pressurized by the load 90,
and the counter-balance valve 300 acts to prevent the release of hydraulic fluid from
the chamber 116 and thereby acts as a safety device to prevent uncommanded
retraction of the hydraulic cylinder 110. In other words, the counter-balance valve
300 locks the chamber 116. In addition to providing safety, the locking of the
chamber 116 prevents drifting of the cylinder 110. Vibration control may be
provided via the hydraulic cylinder 110 by dynamically pressurizing and
depressurizing the chamber 118 on the rod side 114 of the hydraulic cylinder 110.
As the hydraulic cylinder 110, the structure to which the hydraulic cylinder 110 is
attached, and the hydraulic fluid within the chamber 116 are at least slightly
deformable, selective application of hydraulic pressure to the chamber 118 will
cause movement (e.g., slight movement) of the hydraulic cylinder 110. Such
movement, when timed in conjunction with the system model and dynamic
measurements of the system, may be used to counteract vibrations of the system.
[0029] The load 90 is depicted as attached via a rod connection 128 to the rod
126 of the cylinder 110. In certain embodiments, the load 90 is a tensile or a
compressive load across the rod connection 128 and the head side 112 of the
cylinder 110.
[0030] As is further described below, the system 600 provides a control
framework and a control mechanism to achieve boom vibration reduction for both
off-highway vehicles and on-highway vehicles. The vibration reduction may be
adapted to reduced vibrations in booms with relatively low natural frequencies (e.g.,
the concrete pump truck boom). The hydraulic system 600 may also be applied to
booms with relatively high natural frequencies (e.g., an excavator boom). Compared
with conventional solutions, the hydraulic system 600 achieves vibration reduction
of booms with fewer sensors and a simplified control structure. The vibration
reduction method may be implemented while assuring protection from failures of
certain hydraulic lines, hydraulic valves, and/or hydraulic pumps, as described
above. The protection from failure may be automatic and/or mechanical. In certain
embodiments, the protection from failure may not require any electrical signal
and/or electrical power to engage. The protection from failure may be a regulatory
requirement (e.g., an ISO standard). The regulatory requirement may require certain
mechanical means of protection that is provided by the hydraulic system 600.
[0031] Certain booms may include stiffness and inertial properties that can
transmit and/or amplify dynamic behavior of the load 90. As the dynamic load 90
may include external force/position disturbances that are applied to the boom, severe
vibrations (i.e., oscillations) may result especially when these disturbances are near
the natural frequency of the boom. Such excitation of the boom by the load 90 may
result in safety issues and/or decrease productivity and/or reliability of the boom
system. By measuring parameters of the hydraulic system 600 and responding
appropriately, effects of the disturbances may be reduced and/or minimized or even
eliminated. The response provided may be effective over a wide variety of
operating conditions. According to the principles of the present disclosure, vibration
control may be achieved using minimal numbers of sensors.
[0032] According to the principles of the present disclosure, hydraulic fluid
flow to the chamber 116 of the head 112 side of the cylinder 110, and hydraulic fluid
flow to the chamber 118 of the rod side 114 of the cylinder 110 are independently
controlled and/or metered to realize boom vibration reduction and also to prevent the
cylinder 110 from drifting. According to the principles of the present disclosure, the
hydraulic system 600 may be configured similar to a conventional counter-balance
system (e.g., the hydraulic system 100).
[0033] In certain embodiments, the hydraulic system 600 is configured to the
conventional counter-balance configuration when a movement of the cylinder 110 is
commanded. As further described below, the hydraulic system 600 enables
measurement of pressures within the chambers 116 and/or 118 of the cylinder 110 at
a remote location away from the hydraulic cylinder 110 (e.g., at sensors 610). This
architecture thereby may reduce mass that would otherwise be positioned on the
boom and/or may simplify routing of hydraulic lines (e.g., hard tubing and hoses).
Performance of machines such as concrete pump booms and/or lift handlers may be
improved by such simplified hydraulic line routing and/or reduced mass on the
boom.
[0034] The counter-balance valves 300 and 400 may be components of a valve
arrangement 840. The valve arrangement 840 may include various hydraulic
components that control and/or regulate hydraulic fluid flow to and/or from the
hydraulic cylinder 110. The valve arrangement 840 may further include a control
valve 700 (e.g., a proportional hydraulic valve), a control valve 800 (e.g., a
proportional hydraulic valve), and a selector valve arrangement 850, described in
detail below. The control valves 700 and/or 800 may be high bandwidth and/or high
resolution control valves.
[0035] In the depicted embodiment of Figure 2, a node 51 is defined at the port
302 of the counter-balance valve 300 and the port 122 of the hydraulic cylinder 110;
a node 52 is defined at the port 402 of the counter-balance valve 400 and the port
124 of the hydraulic cylinder 110; a node 53 is defined at the port 304 of the
counter-balance valve 300 and the port 702 of the hydraulic valve 700; a node 54 is
defined at the port 404 of the counter-balance valve 400 and the port 804 of the
hydraulic valve 800; a node 55 is defined at the port 306 of the counter-balance
valve 300 and a port 352 of a hydraulic valve 350; and a node 56 is defined at the
port 406 of the counter-balance valve 400 and a port 452 of a hydraulic valve 450.
The hydraulic valves 350 and 450 are described in detail below.
[0036] Turning now to Figure 4, the hydraulic cylinder 110 is illustrated with
valve blocks 152, 154. The valve blocks 152, 154 may be separate from each other,
as illustrated, or may be a single combined valve block. The valve block 152 may
be mounted to and/or over the port 122 of the hydraulic cylinder 110, and the valve
block 154 may be mounted to and/or over the port 124 of the hydraulic cylinder 110.
The valve blocks 152, 154 may be directly mounted to the hydraulic cylinder 110.
The valve block 152 may include the counter-balance valve 300, and the valve block
154 may include the counter-balance valve 400. The valve blocks 152 and/or 154
may include additional components of the valve arrangement 840. The valve blocks
152, 154, and/or the single combined valve block may include the selector valve
arrangement 850 and/or components thereof.
[0037] Turning now to Figure 5, an example boom system 10 is described and
illustrated in detail. The boom system 10 may include a vehicle 20 and a boom 30.
The vehicle 20 may include a drive train 22 (e.g., including wheels and/or tracks).
As depicted at Figure 5, rigid retractable supports 24 are further provided on the
vehicle 20. The rigid supports 24 may include feet that are extended to contact the
ground and thereby support and/or stabilize the vehicle 20 by bypassing ground
support away from the drive train 22 and/or suspension of the vehicle 20. In other
vehicles (e.g., vehicles with tracks, vehicles with no suspension), the drive train 22
may be sufficiently rigid and retractable rigid supports 24 may not be needed and/or
provided.
[0038] As depicted at Figure 5, the boom 30 extends from a first end 32 to a
second end 34. As depicted, the first end 32 is rotatably attached (e.g., by a
turntable) to the vehicle 20. The second end 34 may be positioned by actuation of
the boom 30 and thereby be positioned as desired. In certain applications, it may be
desired to extend the second end 34 a substantial distance away from the vehicle 20
in a primarily horizontal direction. In other embodiments, it may be desired to
position the second end 34 vertically above the vehicle 20 a substantial distance. In
still other applications, the second end 34 of the boom 30 may be spaced both
vertically and horizontally from the vehicle 20. In certain applications, the second
end 34 of the boom 30 may be lowered into a hole and thereby be positioned at an
elevation below the vehicle 20.
[0039] As depicted, the boom 30 includes a plurality of boom segments 36.
Adjacent pairs of the boom segments 36 may be connected to each other by a
corresponding joint 38. As depicted, a first boom segment 36i is rotatably attached
to the vehicle 20 at a first joint 38i. The first boom segment 36i may be mounted by
two rotatable joints. For example, the first rotatable joint may include a turntable,
and the second rotatable joint may include a horizontal axis. A second boom
segment 362 is attached to the first boom segment 36i at a second joint 382.
Likewise, a third boom segment 36 is attached to the second boom segment 362 at a
joint 383, and a fourth boom segment 364 is attached to the third boom segment 363
at a fourth joint 384. A relative position/orientation between the adjacent pairs of the
boom segments 36 may be controlled by a corresponding hydraulic cylinder 110.
For example, a relative position/orientation between the first boom segment 36i and
the vehicle 20 is controlled by a first hydraulic cylinder 1lOi. The relative
position/orientation between the first boom segment 361 and the second boom
segment 362 is controlled by a second hydraulic cylinder 1IO2. Likewise, the
relative position/orientation between the third boom segment 363 and the second
boom segment 362 may be controlled by a third hydraulic cylinder 1IO3, and the
relative position/orientation between the fourth boom segment 364 and the third
boom segment 363 may be controlled by a fourth hydraulic cylinder 1104.
[0040] According to the principles of the present disclosure, the boom 30,
including the plurality of boom segments 361-4, may be modeled and vibration of the
boom 30 may be controlled by a controller 640. In particular, the controller 640
may send a signal 652 to the valve 700 and a signal 654 to the valve 800. The signal
652 may include a vibration component 652v, and the signal 654 may include a
vibration component 654v. The vibration component 652v, 654v may cause the
respective valve 700, 800 to produce a vibratory flow and/or a vibratory pressure at
the respective port 702, 804. The vibratory flow and/or the vibratory pressure may
be transferred through the respective counter-balance valve 300, 400 and to the
respective chamber 116, 118 of the hydraulic cylinder 110.
[0041] The signals 652, 654 of the controller 640 may also include move
signals that cause the hydraulic cylinder 110 to extend and retract, respectively, and
thereby actuate the boom 30. As depicted at Figure 3, the controller also sends an
enable signal 642 to the selector valve arrangement 850. As shown, the enable
signal 642 is transmitted to an enabler 630 which, in turn, sends a valve signal 632
to each of the valves 350 and 450. Upon receiving the valve signal 632, the valves
350 and 450 enable the selector valve arrangement 850. Upon enablement, the
selector valve arrangement 850 selects one of the counter-balance valves 300, 400 as
a holding counter-balance valve and selects the other of the counter-balance valves
400, 300 as a vibration flow/pressure transferring counter-balance valve. In the
depicted embodiment, a loaded one of the chambers 116, 118 of the hydraulic
cylinder 110, that is loaded by the net load 90, corresponds to the holding counter
balance valve 300, 400, and an unloaded one of the chambers 118, 116 of the
hydraulic cylinder 110, that is not loaded by the net load 90, corresponds to the
vibration flow/pressure transferring counter-balance valve 400, 300. In certain
embodiments, the vibration component 652v or 654v may be transmitted to the
control valve 800, 700 that corresponds to the unloaded one of the chambers 118,
116 of the hydraulic cylinder 110.
[0042] The controller 640 may receive input from various sensors, including the
sensors 610, position sensors, LVDTs, vision base sensors, etc. and thereby compute
the signals 652, 654, including the vibration component 652v, 654v. The controller
640 may include a dynamic model of the boom 30 and use the dynamic model and
the input from the various sensors to calculate the signals 652, 654, including the
vibration component 652v, 654v. In certain embodiments, the enable signal 642 is
transmitted directly to the valves 350 and 450 from the controller 640.
[0043] In certain embodiments, a single system such as the hydraulic system
600 may be used on one of the hydraulic cylinders 110 (e.g., the hydraulic cylinder
110i). In other embodiments, a plurality of the hydraulic cylinders 110 may each be
actuated by a corresponding hydraulic system 600. In still other embodiments, all of
the hydraulic cylinders 110 may each be actuated by a system such as the system
600.
[0044] As illustrated at Figure 2, the example hydraulic system 600 includes the
proportional hydraulic control valve 700 and the proportional hydraulic control
valve 800. The example hydraulic system 600 further includes the hydraulic valve
350, the hydraulic valve 450, and a hydraulic valve 900. As depicted, the selector
valve arrangement 850 includes the hydraulic valve 350, the hydraulic valve 450,
and the hydraulic valve 900. In the example embodiment, the hydraulic valves 700
and 800 are three-way three position proportional valves, the valves 350 and 450 are
two-way two position valves, and the valve 900 is a four-way two position valve.
The valves 700 and 800 may be combined within a common valve body. In certain
embodiments, some or all of the valves 300, 350, 400, 450, 700, 800, and/or 900 of
the hydraulic system 600 may be combined within a common valve body and/or a
common valve block. In certain embodiments, some or all of the valves 300, 350,
400, 450, 700, 800, and/or 900 of the valve arrangement 840 may be combined
within a common valve body and/or a common valve block. In certain
embodiments, some or all of the valves 300, 350, 400, 450, and/or 900 of the valve
arrangement 840 may be combined within a common valve body and/or a common
valve block. In certain embodiments, some or all of the valves 350, 450, and/or 900
of the selector valve arrangement 850 may be combined within a common valve
body and/or a common valve block.
[0045] Turning now to Figure 2, certain elements of the hydraulic system 600
will be described in detail. The hydraulic valve 700 includes a spool 720 with a first
configuration 722, a second configuration 724, and a third configuration 726. As
illustrated, the spool 720 is at the third configuration 726. The valve 700 includes a
port 702, a port 712, and a port 714. In the first configuration 722, the port 714 is
blocked off, and the port 702 is fluidly connected to the port 712. In the second
configuration 724, the ports 702, 712, 714 are all blocked off. In the third
configuration 726, the port 702 is fluidly connected to the port 714, and the port 712
is blocked off.
[0046] The hydraulic valve 800 includes a spool 820 with a first configuration
822, a second configuration 824, and a third configuration 826. As illustrated, the
spool 820 is at the third configuration 826. The valve 800 includes a port 804, a port
812, and a port 814. In the first configuration 822, the port 812 is blocked off, and
the port 804 is fluidly connected to the port 814. In the second configuration 824,
the ports 804, 812, 814 are all blocked off. In the third configuration 826, the port
804 is fluidly connected to the port 812, and the port 814 is blocked off.
[0047] In the depicted embodiment, a hydraulic line 562 connects the port 302
of the counter-balance valve 300 with the port 122 of the hydraulic cylinder 110 and
with a port 902 of the valve 900. The hydraulic line 562 may include a hydraulic
line 572 that extends to a control port 932 of the valve 900. The hydraulic line 572
may be a capillary line and have a delayed pressure response from the hydraulic line
562. Node 5 1 may include the hydraulic line 562. A hydraulic line 564 may
connect the port 402 of the counter-balance valve 400 with the port 124 of the
hydraulic cylinder 110 and with a port 914 of the valve 900. The hydraulic line 564
may include a hydraulic line 574 that extends to a control port 934 of the valve 900.
The hydraulic line 574 may be a capillary line and have a delayed pressure response
from the hydraulic line 564. Node 52 may include the hydraulic line 564. In certain
embodiments, the hydraulic lines 562, 564 are included in valve blocks, housings,
etc. and may be short in length. A hydraulic line 552 may connect the port 304 of
the counter-balance valve 300 with the port 702 of the hydraulic valve 700 and with
a port 462 of the valve 450. Node 53 may include the hydraulic line 552. Likewise,
a hydraulic line 554 connects the port 404 of the counter-balance valve 400 with the
port 804 of the valve 800 and with a port 362 of the valve 350. Node 54 may
include the hydraulic line 554.
[0048] Sensors that measure temperature and/or pressure at various ports of the
valves 700, 800 may be provided. In particular, a sensor 610i is provided adjacent
the port 702 of the valve 700. As depicted, the sensor 610i is a pressure sensor and
may be used to provide dynamic information about the system 600 and/or the boom
system 10. As depicted at Figure 2, a second sensor 6IO2 is provided adjacent the
port 804 of the hydraulic valve 800. The sensor 6IO2 may be a pressure sensor and
may be used to provide dynamic information about the hydraulic system 600 and/or
the boom system 10. As further depicted at Figure 2, a third sensor 6 IO3 may be
provided adjacent the port 814 of the valve 800, and a fourth sensor 6 IO4 may be
provided adjacent the port 812 of the valve 800.
[0049] In certain embodiments, pressure within the supply line 502 and/or
pressure within the tank line 504 are well known, and the pressure sensors 6 IO1 and
6 IO2 may be used to calculate flow rates through the valves 700 and 800,
respectively. In other embodiments, a pressure difference across the valve 700, 800
is calculated. For example, the pressure sensor 6 IO3 and the pressure sensor 6IO2
may be used when the spool 820 of the valve 800 is at the first position 822 and
thereby calculate flow through the valve 800. Likewise, a pressure difference may
be calculated between the sensor 6 IO2 and the sensor 6 IO4 when the spool 820 of the
valve 800 is at the third configuration 826. The controller 640 may use these
pressures and pressure differences as control inputs.
[0050] Temperature sensors may further be provided at and around the valves
700, 800 and thereby refine the flow measurements by allowing calculation of the
viscosity and/or density of the hydraulic fluid flowing through the valves 700, 800.
The controller 640 may use these temperatures as control inputs.
[0051] Although depicted with the first sensor 6IO1, the second sensor 6 IO2, the
third sensor 6IO 3, and the fourth sensor 6IO4, fewer sensors or more sensors than
those illustrated may be used in alternative embodiments. Further, such sensors may
be positioned at various other locations in other embodiments. In certain
embodiments, the sensors 610 may be positioned within a common valve body. In
certain embodiments, an Ultronics® servo valve available from Eaton Corporation
may be used. The Ultronics® servo valve provides a compact and high performance
valve package that includes two three-way valves (i.e., the valves 700 and 800), the
pressure sensors 610, and a pressure regulation controller. The Eaton Ultronics®
servo valve further includes linear variable differential transformers (LVDT) that
monitor positions of the spools 720, 820, respectively. By using the two three-way
proportional valves 700, 800, the pressures of the chambers 116 and 118 may be
independently controlled. In addition, the flow rates into and/or out of the chambers
116 and 118 may be independently controlled. In other embodiments, the pressure
of one of the chambers 116, 118 may be independently controlled with respect to a
flow rate into and/or out of the opposite chambers 116, 118.
[0052] In comparison with using a single four-way proportional valve 200 (see
Figure 1), the configuration of the hydraulic system 600 can achieve and
accommodate more flexible control strategies with less energy consumption. For
example, when the cylinder 110 is moving, the valve 700, 800 connected with the
metered-out chamber 116, 118 can manipulate the chamber pressure while the
valves 800, 700 connected with the metered-in chamber can regulate the flow
entering the chamber 118, 116. As the metered-out chamber pressure is not coupled
with the metered-in chamber flow, the metered-out chamber pressure can be
regulated to be low and thereby reduce associated throttling losses.
[0053] Turning again to Figure 3, the valves 350, 450, and 900 will be
described in detail. The valve 350 is a two-way two position valve. In particular,
the valve 350 includes the first port 352, the second port 362, and a third port 364.
The valve 350 includes a spool 370 with a first configuration 372 and a second
configuration 374. In the first configuration 372 (depicted at Figure 3), the port 352
and the port 362 are connected, and the port 364 is blocked. In the configuration
374, the port 364 and the port 352 are connected and the port 362 is blocked. As
depicted, the valve 350 includes a solenoid 376 and a spring 378. The solenoid 376
and the spring 378 can be used to move the spool 370 between the first configuration
372 and the second configuration 374.
[0054] The valve 450 is also a two-way two position valve. In particular, the
valve 450 includes the first port 452, the second port 462, and a third port 464. The
valve 450 includes a spool 470 with a first configuration 472 and a second
configuration 474. In the first configuration 472 (also depicted at Figure 3), the port
452 and the port 462 are connected, and the port 464 is blocked. In the
configuration 474, the port 464 and the port 452 are connected and the port 462 is
blocked. As depicted, the valve 470 includes a solenoid 476 and a spring 478. The
solenoid 476 and the spring 478 can be used to move the spool 470 between the first
configuration 472 and the second configuration 474.
[0055] The valve 900 is a four-way two position valve. In particular, the valve
900 includes the first port 902, a second port 904, a third port 912, and the fourth
port 914. The valve 900 includes a spool 920 that may be configured in a first
configuration 922 (depicted at Figure 3) and a second configuration 924. In the first
configuration, the ports 904 and 914 are connected, and the ports 902 and 912 are
blocked. In the second configuration 924, the ports 902 and 912 are connected, and
the ports 904 and 914 are blocked. The spool 920 of the valve 900 is moved by a
combination of springs 926 and 928 and pressure applied at the first control port 932
and the second control port 934.
[0056] When the pressure is applied to the control port 932, the spring 926 is
compressed, and the spool 920 is urged toward the configuration 924. Likewise,
when the pressure is applied to the control port 934, the spring 928 is compressed,
and the spool 920 is urged toward the configuration 922. Pressure applied to the
port 932 acts on an area 936. Likewise, pressure applied at the port 934 acts on an
area 938. As an area 132 (e.g., a head side area) acted on by pressure within the
chamber 116 may be different than an area 134 (e.g., a rod side area) acted on by
pressure in the chamber 118, the areas 936, 938 may also be different and thereby
compensate for the area differences between the head side 112 and the rod side 114
of the cylinder 110.
[0057] To prevent excessive shuttling of the valve 900 when the net load 90 is
light, a dead-band may be defined by the valve 900. In certain embodiments, a
hysteresis of the springs 926 and/or 928 ranges from about 10% to about 20% of a
maximum full scale load. The maximum full scale load may be defined when either
the chamber 116 or the chamber 118 is at its maximum holding capacity and
supplies a corresponding pressure to the valve 900.
[0058] The valve 350 is connected to the fluid line 554 at the port 362.
Likewise, the valve 450 is connected to the fluid line 552 at the port 462. A fluid
line 582 connects the port 364 of the valve 350 to the port 904 of the valve 900. A
node 57 may include the fluid line 582. Likewise, a fluid line 584 connects the port
464 of the valve 450 to the port 912 of the valve 900. A node 58 may include the
fluid line 584. The fluid line 562 further connects to the port 902 of the valve 900.
Likewise, the fluid line 564 further connects to the port 914 of the valve 900. As
depicted at Figure 3, the fluid line 574 extends from the fluid line 564 and connects
to the port 934. The fluid line 574 may be at substantially a same pressure as the
fluid line 564. In other embodiments, the fluid line 574 may be a capillary line or
have other flow restriction such as an orifice. The pressure at the port 934 may
thereby be different from the pressure in the fluid line 564, at least instantaneously
different. Likewise, the fluid line 572 extends from the fluid line 562 and connects
to the port 932. The fluid line 572 may be at substantially a same pressure as the
fluid line 562. In other embodiments, the fluid line 572 may be a capillary line or
have other flow restriction such as an orifice. The pressure at the port 932 may
thereby be different from the pressure in the fluid line 562, at least instantaneously
different.
[0059] The supply line 502, the return line 504, the hydraulic line 552, the
hydraulic line 554, the hydraulic line 562, the hydraulic line 564, the hydraulic line
572, the hydraulic line 574, the hydraulic line 582, and/or the hydraulic line 584 may
belong to a line set 550.
[0060] Turning now to Figures 2 and 3, the operation of the selector valve
arrangement 850 will be described in detail. As mentioned above, the controller 640
sends a signal to the enabler 630 which, in turn, sends a signal to the valves 350 and
450. In certain embodiments, the signal sent to the valves 350 and 450 is
synchronized and sent simultaneously to both of the valves 350 and 450. Upon the
signal to the valves 350, 450 being a disabled signal, the selector valve arrangement
850 configures the valve arrangement 840 in a conventional counter-balance
arrangement. The conventional counter-balance arrangement may be engaged when
moving the boom 30 under move commands to the control valves 700, 800. In the
disabled configuration, the valve 900 of the selector valve arrangement 850 may still
sense the pressures in the first chamber 116 and the second chamber 118. The valve
900 may thereby continue to shuttle between the first configuration 922 and the
second configuration 924, even when the selector valve arrangement 850 is disabled.
[0061] When the controller 640 sends an enable signal to the enabler 630, and
the enabler 630 sends an enable signal to the valves 350, 450, the valve 350 moves
to the second configuration 374, and the valve 450 moves to the second
configuration 474. In certain embodiments, in the enabled configuration, the valve
arrangement 840 effectively locks the hydraulic cylinder 110 from moving. In
particular, regardless of the position of the valve 900, one of the valves 350 or 450
will not receive high pressure and therefore will not transmit the high pressure to the
corresponding counter-balance valve 300, 400. As mentioned above, the enabled
configuration of the selector valve arrangement 850 may be used to lock one of the
chambers 116, 118 of the hydraulic cylinder 110 while sending vibratory pressure to
an opposite one of the chambers 118, 116. The vibratory pressure may be used to
counteract external vibrations encountered by the boom 30.
[0062] When the net load 90 is carried by the chamber 118, pressure from the
chamber 118 is applied at the port 934 of the valve 900 and urges the valve 900
toward the first configuration 922. In the first configuration 922, the port 904 and
the port 914 of the valve 900 are connected and thereby connect the node 52 with
the node 57. As the valve 350 is enabled, and in the second configuration 374, the
nodes 52 and 57 are further connected to the node 55. A passage for the high
pressure fluid from the chamber 118 is thereby opened to the port 306 of the
counter-balance valve 300. The counter-balance valve 300 is thereby opened for b i
directional flow between the ports 302 and 304. Opening up the counter-balance
valve 300 to bi-directional flow allows the control valve 700 to apply and release
hydraulic fluid pressure from the chamber 116 under the control of the controller
640.
[0063] When the net load 90 is carried by the chamber 116, pressure from the
chamber 116 is applied at the port 932 of the valve 900 and urges the valve 900
toward the second configuration 924. In the second configuration 924, the port 902
and the port 912 of the valve 900 are connected and thereby connect the node 5 1
with the node 58. As the valve 450 is enabled, and in the second configuration 474,
the nodes 51 and 58 are further connected to the node 56. A passage for the high
pressure fluid from the chamber 116 is thereby opened to the port 406 of the
counter-balance valve 400. The counter-balance valve 400 is thereby opened for b i
directional flow between the ports 402 and 404. Opening up the counter-balance
valve 400 to bi-directional flow allows the control valve 800 to apply and release
hydraulic fluid pressure from the chamber 118 under the control of the controller
640.
[0064] As schematically illustrated at Figure 2, an environmental vibration load
960 is imposed as a component of the net load 90 on the hydraulic cylinder 110. As
depicted at Figure 2, the vibration load component 960 does not include a steady
state load component. In certain applications, the vibration load 960 includes
dynamic loads such as wind loads, momentum loads of material that may be moved
along the boom 30, inertial loads from moving the vehicle 20, and/or other dynamic
loads. The steady state load may include gravity loads that may vary depending on
the configuration of the boom 30. The vibration load 960 may be sensed and
estimated/measured by the various sensors 610 and/or other sensors. The controller
640 may process these inputs and use a model of the dynamic behavior of the boom
system 10 and thereby calculate and transmit an appropriate vibration signal 652v,
654v. The signal 652v, 654v is transformed into hydraulic pressure and/or hydraulic
flow at the corresponding valve 700, 800. The vibratory pressure/flow is transferred
through the corresponding counter-balance valve 300, 400 and to the corresponding
chamber 116, 118 of the hydraulic cylinder 110. The hydraulic cylinder 110
transforms the vibratory pressure and/or the vibratory flow into a vibratory response
force/displacement 950. When the vibratory response 950 and the vibration load
960 are superimposed on the boom 30, a resultant vibration 970 is produced. The
resultant vibration 970 may be substantially less than a vibration of the boom 30
generated without the vibratory response 950. Vibration of the boom 30 may
thereby be controlled and/or reduced enhancing the performance, durability, safety,
usability, etc. of the boom system 10. The vibratory response 950 of the hydraulic
cylinder 110 is depicted at Figure 2 as a dynamic component of the output of the
hydraulic cylinder 110. The hydraulic cylinder 110 may also include a steady state
component (i.e., a static component) that may reflect static loads such as gravity.
[0065] Turning now to Figure 6, an example method 1000 of controlling
vibration in a boom system 10 is given. In particular, the method 1000 may begin at
a start point 1002. Upon starting at the start point 1002, a decision point 1004 is
reached. If the boom 30 is in use, control is advanced to a decision point 1006. If
the boom 30 is not in use, a finish point 1024 is reached. If the boom 30 is moving
at the decision point 1006, control is advanced to step 1008 where the enabler 630 is
set to off. Control is then advanced to step 1010 where conventional boom moving
control may be implemented. Control then advances to the decision point 1004. At
the decision point 1006, if the boom 30 is not moving, control advances to step 1012
where the enabler 630 is set to on. Control then advances to decision point 1014. At
the decision point 1014, if the net load 90 is carried by the chamber 118, then
control is advanced to step 1016 where the chamber 118 of the hydraulic cylinder
110 is locked. Control then advances to step 1018 where vibration control is
executed on the chamber 116 and control is then advanced to the decision point
1004. At the decision point 1014, if the net load 90 is carried by the chamber 116,
control is advanced to step 1020. At the step 1020, the chamber 116 is locked and
control then advances to step 1022. At the step 1022, vibration control is executed
on the chamber 118. Control is then advanced to the decision point 1004.
[0066] Various modifications and alterations of this disclosure will become
apparent to those skilled in the art without departing from the scope and spirit of this
disclosure, and it should be understood that the scope of this disclosure is not to be
unduly limited to the illustrative embodiments set forth herein.

WHAT IS CLAIMED IS:
1. A hydraulic system (600) comprising:
a hydraulic cylinder ( 110) including a first chamber ( 116, 118) and a second
chamber (118, 116);
a first counter-balance valve (300) fluidly connected to the first chamber at a
first node (51);
a second counter-balance valve (400) fluidly connected to the second
chamber at a second node (52);
a first control valve (700) fluidly connected to the first counter-balance valve
at a third node (53);
a second control valve (800) fluidly connected to the second counter-balance
valve at a fourth node (54); and
a selection valve arrangement (850) fluidly connected to the first node and
the second node, the selection valve arrangement adapted to self-configure to a first
configuration set when a net load (90) is supported by the second chamber of the
hydraulic cylinder and further adapted to self-configure to a second configuration set
when the net load is supported by the first chamber of the hydraulic cylinder;
wherein when the selection valve arrangement is enabled and at the first
configuration set, the first control valve is adapted to fluctuate a first hydraulic fluid
flow to the first chamber and thereby cause the hydraulic cylinder to produce a first
vibratory response (950).
2. The hydraulic system of claim 1, wherein when the selection valve
arrangement is enabled and at the second configuration set, the second control valve
is adapted to fluctuate a second hydraulic fluid flow to the second chamber and
thereby cause the hydraulic cylinder to produce a second vibratory response (950).
3. The hydraulic system of claim 1, wherein the first chamber is a rod chamber
( 118) and the second chamber is a head chamber ( 116).
4. The hydraulic system of claim 1, wherein the first chamber is a head
chamber (116) and the second chamber is a rod chamber ( 118).
5. The hydraulic system of claim 1, wherein the first counter-balance valve, the
second counter-balance valve, and the selection valve arrangement are physically
mounted to the hydraulic cylinder.
6. The hydraulic system of claim 1, wherein the selection valve arrangement is
configured to be enabled when a first valve command (652) sent to the first control
valve is a first cylinder vibration command and a second valve command (654) sent
to the second control valve is a second cylinder vibration command.
7. The hydraulic system of claim 6, wherein the selection valve arrangement is
configured to be enabled when the first cylinder vibration command sent to the first
control valve targets a vibratory pressure output response of the first control valve.
8. The hydraulic system of claim 1, wherein the selection valve arrangement
includes a first valve (350) fluidly connected to the first counter-balance valve at a
fifth node (55) and a second valve (450) fluidly connected to the second counter
balance valve at a sixth node (56) and wherein the selection valve arrangement is not
enabled when the first valve fluidly connects the fifth node to the fourth node and
the second valve fluidly connects the sixth node to the third node.
9. The hydraulic system of claim 8, wherein when the selection valve
arrangement is not enabled the first counter-balance valve and the second counter
balance valve are adapted to provide the hydraulic cylinder with conventional
counter-balance valve protection.
10. The hydraulic system of claim 8, wherein the selection valve arrangement
includes a third valve (900) fluidly connected to the first valve at a seventh node
(57) and fluidly connected to the second valve at an eighth node (58) and wherein
the selection valve arrangement is enabled and in the first configuration set when the
third valve fluidly connects the second node to the seventh node and the first valve
fluidly connects the fifth node to the seventh node.
11. The hydraulic system of claim 10, wherein the selection valve arrangement is
enabled and in the first configuration set when the second valve fluidly connects the
sixth node to the eighth node.
12. The hydraulic system of claim 8, wherein the selection valve arrangement
includes a third valve (900) fluidly connected to the first valve at a seventh node
(57) and fluidly connected to the second valve at an eighth node (58) and wherein
the selection valve arrangement is enabled and in the second configuration set when
the third valve fluidly connects the first node to the eighth node and the second valve
fluidly connects the sixth node to the eighth node.
13. The hydraulic system of claim 12, wherein the selection valve arrangement is
enabled and in the second configuration set when the first valve fluidly connects the
fifth node to the seventh node.
14. The hydraulic system of claim 1, wherein the selection valve arrangement
includes a selector valve (900) fluidly connected to the first node and the second
node, wherein pressure at the second node from the second chamber urges the
selector valve to connect the pressure of the second chamber with the first counter
balance valve when the selection valve arrangement is enabled and thereby selfconfigure
to the first configuration set and thereby allow the first control valve to
fluidly transmit the first hydraulic fluid flow to the first chamber.
15. The hydraulic system of claim 2, wherein the selection valve arrangement
includes a selector valve (900) fluidly connected to the first node and the second
node, wherein differential pressure between the first node and the second node
multiplied by corresponding areas of the selector valve urges the selector valve to
connect the pressure of the second chamber with the first counter-balance valve
when the selection valve arrangement is enabled and the net load is supported by the
second chamber thereby allowing the first control valve to fluidly transmit the first
hydraulic fluid flow to the first chamber and urges the selector valve to connect the
pressure of the first chamber with the second counter-balance valve when the
selection valve arrangement is enabled and the net load is supported by the first
chamber thereby allowing the second control valve to fluidly transmit the second
hydraulic fluid flow to the second chamber.
16. The hydraulic system of claim 15, wherein the corresponding areas of the
selector valve include a first area operated on by a first pressure from the first node
and include a second area operated on by a second pressure from the second node
and wherein a first effective area of the first chamber is proportionate to the first
area and a second effective area of the second chamber is proportionate to the
second area.
17. The hydraulic system of claim 16, wherein the selector valve includes a
dead-band that limits switching between the first configuration set and the second
configuration set until a differential force resulting from the differential pressure
acting over the respective first and second areas of the selector valve exceeds a
predetermined force difference.
18. A hydraulic valve set (840) comprising:
a first counter-balance valve (300) providing a first back-flow protection to a
first node (51), the first counter-balance valve including a first counter-balance valve
opening node (56);
a second counter-balance valve (400) providing a second back-flow
protection to a second node (52), the second counter-balance valve including a
second counter-balance valve opening node (56); and
a selection valve arrangement (850) fluidly connected to the first node, the
second node, the first counter-balance valve opening node, and the second counter
balance valve opening node, the selection valve arrangement adapted to selfconfigure
in response to a net spool force produced by a first fluid pressure of the
first node and a second fluid pressure of the second node;
wherein when the net spool force is in a first direction the selection valve
arrangement connects the first node of the first counter-balance valve to the second
counter-balance valve opening node of the second counter-balance valve; and
wherein when the net spool force is in a second direction the selection valve
arrangement connects the second node of the second counter-balance valve to the
first counter-balance valve opening node of the first counter-balance valve.
19. The hydraulic valve set of claim 18, further comprising:
a first control valve (700) fluidly connected to the first counter-balance valve
at a third node (53); and
a second control valve (800) fluidly connected to the second counter-balance
valve at a fourth node (54).
20. A hydraulic boom control system (600) comprising:
a pair of counter-balance valves hydraulically coupled to opposite sides of a
hydraulic actuator of a boom;
a selection valve arrangement (850), the selection valve arrangement sensing
a net unloaded side of the opposite sides of the hydraulic actuator and opening a one
of the pair of counter-balance valves corresponding to the net unloaded side; and
a pair of control valves corresponding to the opposite sides of the hydraulic
actuator, a one of the pair of control valves corresponding to the net unloaded side
transmitting a vibratory hydraulic fluid flow to the net unloaded side of the hydraulic
actuator.
21. A method of controlling vibration in a boom, the method comprising:
providing a valve arrangement including a pair of counter-balance valves, a
pair of control valves, and a selector valve set;
providing a hydraulic actuator including a pair of chambers;
configuring the selector valve set with a net load applied on the hydraulic
actuator and thereby configuring the pair of counter-balance valves;
locking a loaded chamber of the pair of chambers with a respective one of
the pair of counter-balance valves that has been configured by the configuring of the
pair of counter-balance valves; and
transmitting vibrating hydraulic fluid with a respective one of the pair of
control valves to an unloaded chamber of the pair of chambers.