Regulator device and method for operating a regulator device

Abstract

The invention relates to a regulator device, preferably as a component of a hydraulic circuit, in particular for regulating fluid-bearing units or units that are driven using a fluid, such as adjustable fluid pumps, which respectively co-operate with at least one actuator, which can be controlled by means of at least one governor in accordance with a predefinable guide variable (p d ), said governor detecting output variables (α,p 1 ) at least partially via a recirculation line. The fact that at least one recirculation line comprises at least one monitor (estimator), which estimates the output variables (condition x) that are at least in part unknown for the assignable governor, enables the provision of a regulator device, in which the governor comprises a linear or non-linear monitor for estimating the unknown load. Said regulator device continuously monitors the load, (load volumetric flow), independently of the regulation type, (volumetric and/or pressure regulation) and its implementation, (in analogous or discrete form), in order to regulate the operation in a dynamic, precise manner (devoid of spikes).

1 . A regulator device, preferably as a component of a hydraulic circuit, in particular for regulation of fluid-conveying means or means which can be driven by a fluid, such as adjustable fluid pumps, which each interact with at least one actuator which, depending on a definable guide variable (p d ), can be controlled by means of at least one regulator which acquires at least partially the output variables (α, p 1 ) of the controlled system via at least one recirculation line, characterized in that at least one recirculation line has at least one monitor (estimator) which effects estimation of the output variables which are at least partially unknown (state x) for the assignable regulator. 
   
   
       2 . The regulator device as claimed in  claim 1 , wherein the output variables (α, p 1 ) of the controlled system which can be acquired by means of the respective monitor form a state x which can be supplied to the monitor as a vector signal at least partially describing the system state. 
   
   
       3 . The regulator device as claimed in  claim 2 , wherein the respective vector signal includes at least one pivoting angle (α) of the fluid pump and/or the respective pressure value (p 1 ) of the load following the fluid pump. 
   
   
       4 . The regulator device as claimed in  claim 1 , wherein the respective vector signal can be supplied to the monitor and also, as a whole or at least one or more components of the vector signal, is used as the input variable to the assignable regulator as the input variable. 
   
   
       5 . The regulator device as claimed in  claim 3 , wherein said regulator device is designed for pressure-regulated or volumetric flow-regulated operation. 
   
   
       6 . The regulator device as claimed in  claim 1 , wherein the estimated value ({circumflex over (K)} 1 ) found at the output of the monitor as the input value for the assignable regulator corresponds to the load volumetric flow which is referenced to the respective load and which can be evaluated as a function of the adjustment path for the fluid pump. 
   
   
       7 . The regulator device as claimed in  claim 6 , wherein the respective regulator undergoes disturbance variable compensation by the detectable or known load volumetric flow. 
   
   
       8 . The regulator device as claimed in  claim 1 , wherein the respective regulator is implemented as a cascade regulator or as a linear or nonlinear state regulator with or without disturbance variable compensation. 
   
   
       9 . The regulator device as claimed in  claim 1 , wherein the fluid pump is an axial piston pump with a detectable output variable which relates to its pivoting angle (α). 
   
   
       10 . The regulator device as claimed in  claim 2 , wherein at least one regulator on the input side acquires at least two sum signals, one sum signal being formed from the guide variable (p d ) and at least one component of the vector signal, and another sum signal being formed from the estimated value of the monitor and at least one other component of the vector signal. 
   
   
       11 . A method for operating a regulator device, in particular for regulation of fluid-conveying means or means which can be driven by a fluid, such as adjustable fluid pumps, which each interact with at least one actuator which, depending on a definable guide variable (p d ), is controlled by means of at least one regulator which acquires at least partially the output variables (α, p 1 ) of the controlled system via at least one recirculation line which has one monitor (estimator), characterized in that a transition takes place, preferably gently, in switching from volumetric flow-regulated and pressure-limiting operation to pressure-regulated operation, and preferably vice versa, in that at the instant of switching at least the pressure value (p 1 ) which is used as part of the vector signal and its first time derivative run continuously.