Method and apparatus for controlling a hydraulic motor
AssigneeCaterpillar Inc.
InventorHongliu Du
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Abstract
A method and apparatus for controlling the motor output speed of a variable displacement hydraulic motor are disclosed. The method may include determining a value indicative of a motor output speed, determining a value indicative of a desired motor output speed, determining a desired position of a control valve using a nonlinear feedback control law, and, controlling the motor output speed as a function of the control valve position, wherein the nonlinear feedback control creates a first order system response.
Claims20
A method for controlling a motor output speed of a variable displacement hydraulic motor, the method comprising the steps of:
- determining a value indicative of a motor output speed;
- determining a value indicative of a desired motor output speed;
- determining a desired position of a control valve using a nonlinear feedback control law;
- and
- controlling the motor output speed as a function of the control valve position, wherein the nonlinear feedback control law creates a first order system response.
An apparatus for controlling an output speed of a variable displacement hydraulic motor, the apparatus comprising:
- a swashplate movably mounted to the motor;
- a control actuator disposed in mechanical communication with the swashplate and configured and arranged to control an angle of the swashplate;
- a control valve disposed in hydraulic communication with the control actuator;
- a speed sensor operably connected to an output portion of the motor and operable to determine an output speed of the motor;
- and
- a controller electrically connected to the speed sensor and the control valve and operable to determine a desired position of the control valve using a nonlinear feedback control law and operable to control the valve to produce a first order system response.
Dependencies are inferred from the claim text.