UNODEI TOIMIMMITTEE

US 20180266447A1
( 19) United States
(12) Patent Application Publication (10) Pub. No.: US 2018/0266447 A1
Imam et al. (43) Pub. Date : Sep . 20 , 2018
(54 ) PUMP- CONTROLLED HYDRAULIC 2211/8613 (2013.01 ); F15B 2211/40576
CIRCUITS FOR OPERATING A (2013.01 ); F15B 2211/20553 (2013 .01 )
DIFFERENTIAL HYDRAULIC ACTUATOR
(71) Applicant: University of Manitoba , Winnipeg (57) ABSTRACT
(CA ) Pump-controlled hydraulic circuits are more efficient than
( 72 ) Inventors : Ahmed A . Imam , Zagazig ( EG ); valve -controlled circuits , as they eliminate the energy losses
Nariman Sepehri, Winnipeg (CA ) due to flow throttling in valves and require less cooling
effort. Presently existing pump - controlled solutions for
(21) Appl. No.: 15 /815 , 181 single rod cylinders encounter an undesirable performance
during certain operating conditions. Novel circuit designs
(22) Filed : Nov. 16, 2017 employ use of different charge pressures on a pair of
pilot-operated charging- control valves or different piston
Related U .S . Application Data areas and/ or spring constants on a shuttle -type charging
(60 ) Provisional application No.62/423,286 , filed on Nov . control valve to shift a critical loading region in a load
17 , 2016 . force /actuator- velocity plane to a lower load force range ,
thereby reducing the undesired oscillations experienced in
Publication Classification the response of the typical critical loading region . One or
more specialized valves are controlled by fluid pressures to
(51) Int. Ci. provide throttling in the circuit only within the critical
F15B 11 / 16 ( 2006 .01) loading region , thereby reducing the oscillatory amplitude
(52) U .S . CI. while avoiding throttling -based energy losses outside the
CPC ....... F15B 11/ 165 ( 2013 .01); F15B 2211 /355 critical region over the majority of the circuit 's operational
( 2013.01); F15B 2211/40507 (2013 .01); F15B overall operating area.

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US 2018/0266447 A1 Sep . 20 , 2018

PUMP-CONTROLLED HYDRAULIC dampen the undesirable oscillations through leakage control.

CIRCUITS FOR OPERATING A This approach , however, requires additional control effort
DIFFERENTIAL HYDRAULIC ACTUATOR and extra sensors that increases system cost and complexity .
Calishan et al. [13 ] simplified the previous design [ 12 ] by
CROSS -REFERENCE TO RELATED utilizing an open - center shuttle valve to incorporate the
APPLICATIONS leakage control together with flow compensation . The
[0001 ] This application claims benefit of U . S . Provisional design required less control effort and showed stable per
formance. However, they reported that their solution works
App . No. 62/423 , 286 , filed Nov. 17 , 2016 , the entirety of best under certain actuator velocities . Also their experimen
which is incorporated herein by reference . tal work was limited to low loading conditions and lacked
FIELD OF THE INVENTION the effect of mass inertia . Jalayeri et al. [6 ,24 ], and Altare
and Vacca [ 15 ] introduced the idea of regulating the load
[0002 ] The present invention relates generally to hydraulic motion with the help of counterbalance valves , which
circuits for controlling a differential actuator, and more belong to throttling elements . To compensate for the differ
particularly to pump-based control of such hydraulic cir ential flow Jalayeri et al. [ 24 ] used an On /Off solenoid valve
cuits . and a check valve while Altare and Vacca [ 15 ] utilized a
special form of shuttle valve , which they called dual pres
BACKGROUND sure valve . Both designs are more energy efficient than the
[0003] It has been seen that pump-controlled hydraulic to conventional valve - controlled alternatives and accurate
circuits have better efficiency compared to valve - controlled enough for many industrial applications.Nevertheless, these
circuits. Cleasby and Plummer [ 1 ] reported that their pump designs cannot regenerate energy [ 24 ]. From the above
controlled circuit consumed only 11 % of energy required by discussion it is seen that in spite of the large amount of
a valve -controlled circuit to perform the same task . On the studies on the topic , the use of throttle -less actuation tech
nology for single rod cylinders has not been fully explored ,
other hand , valve - controlled circuits, to date , exhibit better compared to valve - controlled actuation , in terms of dynamic
dynamic performance [ 2 ]. However, machine efficiency is performance [ 19,25 ].
becoming a real concern from economic and environmental
points of view , especially in mobile hydraulic industry . 10005 ] FIG . 1 shows a commonly used circuit that utilizes
Throttling losses in valves represent one of the main energy two pilot-operated check valves (POCVs) formotion control
losses in hydraulic circuits presently used in these machines . of a single rod hydraulic actuator, A reversible or bidirec
To reduce throttling losses, load -sensing technologies have tional hydraulic pump, 10 , defines the main power source for
been extensively used in mobile industry [3 , 4 ]. Neverthe the single - rod differential linear hydraulic actuator 12 . The
less , throttling losses still represent 35 % of the energy opposite first and second sides of the pump 10 are respec
received by a hydraulic system equipped with load -sensing tively connected to the extension and retraction sides of the
technology in a typical excavating machine [5 ]. Large actuator by first main fluid transmission line L , and second
energy savings can be obtained by eliminating/reducing main fluid transmission line LB .Ahydraulic charging system
metering losses. 14 features a unidirectional hydraulic pump 16 and relief
[0004 ] Pump -controlled circuits have been well -devel valve for supplying charging fluid to the first and second
oped for double rod cylinders [6 , 7 , 8 ]. For example , the new main fluid lines to compensate for differential flow on
Airbus airliner aircraft, A380 is equipped with this technol opposing sides of the differential hydraulic actuator due to
ogy [ 9 ]. However, single rod cylinders are used in at least the larger area of the actuator' s piston 18 on the capped
80 % of the electro -hydraulic applications [ 8 ]. Many initia extension side 12a of the actuator than on the rod -accom
tives to develop pump - controlled circuits for single -rod modating retraction side 12b of the actuator. A cross -pres
cylinders have also been done [ 1,6 , 10 ,11, 12 , 13 , 14 , 15 , 16 ]. sure line connecting between the main fluid lines LA, LR has
Rahmfeld and Ivantysynova [ 11 ] introduced a circuit that a singular connection to the charging system 14 , which
comprises a variable displacement piston pump and two features an accumulator 20 to boost the charge pump and
pilot operated check valves (POCVs ) to compensate for the supplement flow to the circuit when needed . The cross
differential flow in single rod hydraulic cylinders. Hippal pressure line is made up of a first charging line 22 connect
gaonkar and Ivantysynova [ 17 ] and Grabbel and Ivan ing the charging system to the first main fluid line La, and
tysynova [18 ] applied the circuit in a concrete pump truck , a second charging line 24 connecting the charging system to
a loader, and a multi - joint manipulator. Williamson et al. the second main fluid line LR. The first charging line 22
[ 19 , 20 ] studied the performance of a skid - steer loader features a first pilot-operated check valve POCVA, and the
equipped with this circuit. They reported boom velocity second charging line 24 features a second pilot-operated
oscillations and pump mode of operation switching during check valve POCVB. Pilot lines 26 , 28 respectively con
lowering light loads at high speeds. Williamson et al, [21] nected to the two POCVs are pressurized through the cross
and Wang et al. [ 12 ] further showed that the circuit with two pressure line of the circuit so that fluid from second main
pilot operated check valves (POCVs) is unstable at low fluid L , provides pilot pressure to POCV , through the first
loading operations. To deal with this problem , Williamson pilot line 26 , and fluid from first main fluid line L , provides
and Ivantysynova [ 20 ] proposed a feedforward controller. pilot pressure to POCVB through the second pilot line 28 .
Their solution was tested on (limited to ) custom - build [0006 ] Referring to FIG . 1 , pressure difference across the
pumps with fast rise time of 80 ms [ 22 ]. Commonly used pump is defined as P = P . -Pn, where p , and p are pressures
pumps in the market [23] possess rise time of about 500 ms. at the pump ports . Q is the flow rate through the pump, it is
Wang et al . [ 12 ] replaced the POCVs with a closed -center positive when the hydraulic oil flows from port b to port a .
3 -way, 3 - position shuttle valve for flow compensation . They Ports a and b of the pump are also referred to herein as the
added two electrically -activated regulating valves to first and second sides of the pump, respectively . The circuit
US 2018/0266447 A1 Sep . 20 , 2018

works in pumping mode if P and Q possess the same sign . pilot-operated check valve, POCVB, which allows flow , Q2 ,
Otherwise , it works in motoring mode. From the actuator to compensate for the cylinder differential flow . In this case ,
perspective when the cylinder velocity , V , and external the main pump works in pumping mode . Clearly , motion
force , F , have the same sign , (for example , the cylinder will not begin unless the POCVs are in the proper working
extends against the load ) the actuator works in resistive positions to compensate for the differential flow of the
mode. Otherwise it works in assistive mode. cylinder and avoid hydraulic lock . Otherwise , poor
[0007 ] FIG . 1 shows the state of the circuit during a responses may be experienced in certain regions of opera
load -resisting extension of the actuator in a pump-mode of tion , as outlined below .
the reversible pump 10 (see Quadrant 1, FIG . 2 ) where the [0011 ] The main dynamics of the actuator can be
velocity of the actuator v , opposes the load force F , . Once described as follows:
pressure in the first main fluid line LA is sufficiently high to
actuate the pilot of POCVB through the second pilot line 28,
POCVB opens to enable charging fluid from the charging mia = (PAAA - PBAB ) – F1 - FL ?

system to be pumped into second main fluid line LR to

augment the fluid flowing out of the retraction side 12b of
the actuator back to the pump 10 , which would otherwise be Da= ora Qa– Aave) C

insufficient due to the higher rate of flow demanded from the

first side of the pump by the extension side 12a of the
actuator. Likewise , during a load - assisting extension of the
Þp = Kumi (–28+Apva) D

actuator in a motoring -mode of the pump ( see Quadrant 2 ,

FIG . 2 ), opening of POCV , through the first pilot line 26 by where m represents the equivalent moving mass . Pressures
sufficiently high pressure in second main fluid line LB at actuator ports are denoted by PA and PR. QA and B are the
enables charging fluid from the charging system 14 to be flow rates to and from the actuator ports . Piston effective
pumped into first main fluid line L , to augment the fluid areas are represented by A , and AB. Koil is the oil bulk
flowing into the extension side 12a of the actuator, which modulus . The oil volumes at each side of the circuit are
would otherwise be insufficient due to the lower flow represented by VA and VB ; they change with cylinder dis
coming out of the retraction side 12b of the actuator 12 and placement
flowing through the pump . Driven by the load on the 10012 ]. Friction force , F , is assumed to be the sum of the
actuator during this , this flow from the retraction side of the Stribeck , Coulomb and viscus friction components [ 26 ]:
actuator causes the pump to operate as a motor , whereby F # Fc(1 +(K ,-1)e-celval) sgn (val+ f«Va
such motoring can be used to recoup energy from the
hydraulic system . This recapture of energy that would Fc= Fpr + fc (PA+PB) (5)
otherwise be wasted is referred to as regeneration . where Fc represents the Coulomb friction ; K , and c, denote
[0008 ] Opening of POCVB also occurs in response to breakaway friction force increase and velocity transition
sufficient piloting pressure from first main fluid line LA coefficients , respectively ; f, and f, are the viscous and
during load -assisting retraction of the actuator in another Coulomb friction coefficients , respectively. Fpr represents
motoring mode of the reversible pump 10 (see Quadrant 4 , the preload force generated due to seal deformation inside
FIG . 2 ). Here , this opening of POCV , allows part of the fluid the cylinder during installation . In Eq. (5 ), Coulomb friction
flow from the second side of the pump to the retraction side Fc is assumed to be the summation of the seals preloading
12b of the actuator to be redirected out of the main circuit force , caused by the seal pre - squeezing during assembly , and
to the charging system 14 , as such drainage from the main the force related to the seal squeezing due to the operational
circuit is required due to the greater flow coming out of the pressure effect. It is clear from Eq. (5 ) that the Coulomb
extension side of the actuator under the effect of the load friction increases as the load and corresponding actuator
force than can be accommodated on the opposing retraction pressures increase .
side . Likewise , opening of POCV , also occurs in response [0013 ] Amongst various types of POCVs, the commonly
to sufficient piloting pressure from second main fluid line L used one uses the pilot line pressure referenced to charge
during load -resisting retraction of the actuator in a pumping
mode of the reversible pump 10 (see Quadrant 3 , FIG . 2 ) . pressure pc [ 12 ]. This type is preferred in the pump-con
This allows part of the fluid flow to the first side of the pump trolled circuits because it provides less interference margin
from the extension side of the actuator to be redirected and during operation of both valves in the circuit, which supports
drained to the charging system , as is required to once again the system stability [12 ]. POCVs are normally closed and
accommodate the differential flow across the actuator, in can be opened in two ways . They can be opened through the
which the retraction side of the actuator cannot accommo pilot line pressure as been presented in Eq . (6 ), or through
date the larger flow being produced out of the extension side the charge line pressure described by Eq . (7) [22 ,27 ]. The
thereof due to the differential area between the two faces of two cracking conditions are represented , for POCVB, by the
the actuator piston 18 . following equations :
[0009] From the two preceding paragraphs, it can be seen K _(P1- Pc)- (P2-P .)?Per
how the POVCs accommodate the differential flow to and
from the actuator in the four quadrants of operation . Pe- P22Per
[0010 ] Considering extension the actuator against the where K , and Per are the POCV pilot ratio and cracking
resistive external load, as shown in FIG . 1 , the pump pressure , respectively . The operation of POCVs is mainly
delivers flow Q in clockwise direction to the capped exten controlled by the pilot pressures p? and p2, while actuator
sion side of the cylinder through first main transmission line motion is monitored by pressures p , and Pr . The differences
LA. As the pressure in line L A builds up , it opens the cross between p? and pA and P2 and P8 is due to the losses in the
US 2018/0266447 A1 Sep . 20 , 2018

transmission lines. This pressure drop is calculated using the where at zero velocity we have, Flio = Fcro - Fc F _20 = Fc0
lumped resistance model as follows [21]: Fc - FCVA , F230 = Fcro + Fc, and F240 = Fc10 + Fc + FCVB
Ap = Cdq + Caiq (8) [0020 ] With reference to FIG . 3 , critical region or zone 5
represents pump mode of operation switching (motoring to
where q is the flow in a transmission line, and Cat and Cai pumping and vice versa ) during actuator extension . Pres
represent the combined viscous friction in transmission line sures at both sides of the circuit are almost equal and less
and local drag coefficients, respectively. than the charge pressure which keeps both POCVs open . In
[ 0014 ] In normal operation only one of the POCVs is this case, charge pump supplies both sides of the circuit with
expected to open while the other is closed . However, inter hydraulic flow and the actuator velocity is not fully control
ference in operation is expected when the two activating lable . Critical region ( zone ) 6 represents pump mode of
pressures p , and p are close to each other [ 12 ]. This operation switching (motoring to pumping and vice versa )
undesirable interference shows up in three ways: either both during actuator retraction . Pressures at both sides of the
valves are closed or both are open or they alternatively open circuit are almost equal and higher than the charge pressure
and close . These conditions result in low performance [ 20 ]. and both valves, initially , are critically closed , meaning that
[0015 ] Wang et al. [ 12 ] identified these conditions as the opening and closing forces are nearly the same, and so
operating the circuit around the critical load , Fcr. Critical a minimal increase in either will change the valve state .
load was identified as the actuating force when pressure at Opening POCVB supports motoring mode while motion
both chambers of the actuator equals to the charge pressure . decelerates due to less assistive load . On the other hand
Calishan et al. [ 13 ] further specified two load limits (Fl? and opening POCVA supports pumping mode and motion accel
F , . ) for this zone in a load - velocity ( F , -v . ) plane , as shown eration . Consequently , pump mode of operation and POCVs
in FIG . 2 . The values of these limits depend on the circuit configuration keep switching and pressure and velocity
operational pressures and the actuator effective areas . oscillates .
[0016 ] FIG . 3 shows more elaborated and detailed repre [0021 ] Accordingly , there is a desire for new hydraulic
sentation of operation and undesirable performance zones of circuit designs and control methods for mitigating these
the prior art shown in FIG . 2 for the circuit in FIG . 1 . The performance issues with the prior circuit designs for pump
width of the critical zone in circuits with the POCVS controlled operation of differential linear actuators .
(3difference between Flio and FL20 and FL30 and F240 in FIG .
) at zero velocity depends on the cracking pressures of the SUMMARY OF THE INVENTION
POCVs and actuator piston areas. Let the force Fcy be [0022 ] According to a first aspect of the invention , there is
defined as the equivalent force on the actuator to the pressure provided a pump - controlled hydraulic circuit for operating a
required to open the corresponding POCV. Note that equiva differential hydraulic actuator , said circuit comprising:
lent force to the pressure needed to open POCVA, [ 0023 ] a reversible hydraulic pump ;
FCVA -PA4, is higher than that needed to open POCVB, 10024 ) a first main fluid line connecting a first side of the
FCVB = P Ag. In pumping mode, the pump generates the reversible hydraulic pump to an extension side of the
required cracking pressure Per to guarantee proper configu differential hydraulic actuator ;
rations of POCVs. However, in the motoring mode, the [0025 ] a second main fluid line connecting a second side
external load works to create this cracking pressure. of the reversible hydraulic pump to a retraction side of the
[0017] To study the effect of the friction force components differential hydraulic actuator ;
on the shape of the critical zones, we rearrange the actuator [0026 ] a hydraulic charging system for supplying/releas
equation of motion (ignoring the inertial term and frictional ing charging fluid to and from the first and second main fluid
Stribeck component), lines to compensate for differential flow on opposing sides
Fu = Fcr - Fc sgn ( va)- fwa (9 ) of the differential hydraulic actuator;
[0027] a first charging line connecting the charging circuit
[0018] Since friction force acts against the actuator veloc to the first main fluid line ;
ity, the above equation shows that friction force affects the [0028 ] a second charging line connecting the charging
critical zone shape differently in the upper and lower sec circuit to the second main fluid line;
tions of the F , - V , plane. As seen in FIG . 3 , during positive [0029 ] a set of one ormore valves comprising at least one
velocity , Coulomb friction component shifts the critical zone charging - control valve operably installed in the first and/or
to the left while viscous friction bends further it to the left second charging lines and operable to switch between at
with an angle related to the viscous friction coefficient. least a first charging fluid supply / release state enabling flow
These effects are reversed for negative velocities. through the first circuit-charging line between the firstmain
[0019 ] Built upon the above analysis , FIG . 3 shows the fluid line and the charging circuit , and a second charging
different limits describing the undesirable performance fluid supply / release state enabling flow through the second
regions . Regions 1 , 2 , 3 and 4 in FIG . 3 represent the good circuit -charging line between the second main fluid line and
performance areas while the performance deterioration the charging circuit , thereby enabling supply and release of
occurs in regions 5 and 6 . Mathematical representation of the charging fluid to the first and second main fluid lines ,
the different limit lines can be shown as follows: whereby the reversible hydraulic pump cooperates with the
Fli= Fc - F's ( 10 ) differential hydraulic cylinder via the main charging lines ,
the charging lines and the charging system to operate to
provide a four quadrant mode operation including a first
F _2 = For -F ,-FCVA (11) load -resistive actuator - extension quadrant, a second load
Fz3= Fc +F ; (12) assistive actuator- extension quadrant, a third load - resistive
actuator- retraction quadrant and a fourth load -assistive
FL4 = For +F ,+FCVB (13) actuator -retraction quadrant;
US 2018/0266447 A1 Sep . 20 , 2018

[0030 ] wherein the set of one or more valves includes at [0041] In such instance , the first and second valve -actu
least one pilot-operated critical zone shifting valve config ating inputs may be characterized from one another by at
ured to shift a critical loading zone in the fourth load - least one of a pilot - input piston area used to drive movement
assisted actuator -extension quadrant of the four quadrant of the at least one charging- control valve into the respective
operation to a lower loading range, whereby oscillation charging fluid supply /release state , a spring stiffness used to
amplitude in the critical loading zone is reduced due to lower resist movement of the valve into the respective charging
loading values in the lower loading range of the shifted fluid supply / release state , and a charging pressure connected
critical loading zone . to the respective one of the main fluid lines by operation of
[0031 ] According to a second aspect of the invention , the input.
there is provided a pump -controlled hydraulic circuit for [0042 ] The charging system may have two different out
operating a differential hydraulic actuator, said circuit com lets respectively providing higher and lower pressure sup
prising : plies of charging fluid and the first and second charging lines
[0032] a reversible hydraulic pump; are connected to the two different outlets of the charging
[0033] a first main fluid line connecting a first side of the system .
reversible hydraulic pump to an extension side of the [0043 ] In such instance , a higher pressure one of said two
differential hydraulic actuator; different outlets of the charging system may be connected to
[ 00341 a second main fluid line connecting a second side the second circuit - charging line to connect the higher pres
of the reversible hydraulic pump to a retraction side of the sure supply of charging fluid to the second main fluid line in
differential hydraulic actuator; the second charging fluid supply /release state of the at least
[0035 ] a hydraulic charging system for supplying /releas one valve.
ing charging fluid to and from the first and second main fluid (0044) A pressure reducer may be connected between the
lines to compensate for differential flow on opposing sides charging pump and the first fluid charging line to define a
of the differential hydraulic actuator; lower pressure one of said two different outputs of the
[ 0036 ] a first charging line connecting the charging circuit charging system , the first charging line being connected to
to the first main fluid line ; said lower pressure one of said two different outputs to
[0037] a second charging line connecting the charging connect the lower pressure supply of charging fluid to the
circuit to the second main fluid line ; firstmain fluid line in the first charging fluid supply /release
[ 0038 ] a set of one or more valves comprising at least one state of the at least one valve .
charging -control valve operably installed in the first and /or [0045 ] The at least one charging -control valve may com
second charging lines and operable to switch between at prise first and second pilot- operated charging -control valves
least a first charging fluid supply /release state enabling flow respectively installed in the first and second charging lines ,
through the first circuit-charging line between the first main with a pilot of the first pilot- operated charging - control valve
fluid line and the charging circuit , and a second charging connected to the second main fluid line and a pilot of the
fluid supply /release state enabling flow through the second second pilot-operated charging - control valve connected to
circuit- charging line between the second main fluid line and the first main fluid line.
the charging circuit , thereby enabling supply and release of [0046 ] In such instance , at least one, and optionally both ,
the charging fluid to and from the first and second main fluid of the first and second pilot -operated charging - control
lines , whereby the reversible hydraulic pump cooperates valves may be a pilot-operated check valve.
with the differential hydraulic cylinder via themain charging [0047 ] Alternatively , at least one , and optionally both , of
lines , the charging lines and the charging system to operate the first and second pilot-operated charging - control valves
to provide a four quadrant mode operation including a first may be a pilot-operated sequence valve .
load -resistive actuator - extension quadrant, a second load [0048 ] At least one of the pilot-operated charging- control
assistive actuator- extension quadrant, a third load - resistive valves may be configured to throttle fluid passing there
actuator-retraction quadrant and a fourth load -assistive through during low loading conditions of the differential
actuator -retraction quadrant hydraulic actuator,and to freely pass fluid therethrough in an
[ 00391 wherein the set of one or more valves includes at unthrottled manner during higher loading conditions of the
least one pilot-operated vibration -damping valve configured differential hydraulic actuator.
to throttle flow in the hydraulic circuit in a critical loading [0049 ] The at least one charging -control valve may com
zone of the four- quadrantmode of operation , while allowing prise a charging- control valve whose movement in opposing
unthrottled flow in the hydraulic circuit outside the critical directions is respectively driven by exposure of first and
loading zone. second piston areas to fluid pressure and respectively
10040 ] The at least one charging- control valve may have a resisted by first and second springs. In such instance , said
first valve - actuating input operable to place the at least one springs may have different spring constants , and said first
valve charging -control in the first charging fluid supply / and second piston areas may differ from one another.
release state and connected to one of the main fluid lines for [0050 ] The at least one charging- control valve may com
pressure - based operation of said valve - controlling first input prise a shuttle valve having a center position closing both the
by fluid from said one of the main lines , and a second first and second charging lines, a first shifted position
valve - actuating input operable to put the at least one charg opening the first charging line to the charging system and
ing - control valve in the second charging fluid supply /release closing the second charging line from the charging system to
state and connected to the other of the main fluid lines for define the first charging fluid supply /release state , a second
pressure -based operation of said valve - controlling second shifted position opening the second charging line to the
input by fluid from said other of the main fluid lines, said charging system and closing the first charging line from the
first and second valve - controlling inputs each being unique charging system to define the second charging fluid supply /
from one another in at least one characteristic . release state, first and second piston areas arranged to shift
US 2018/0266447 A1 Sep . 20 , 2018

the valve into the first and second shifted positions respec - at a first rate during the lower loading conditions, and
tively when acted upon by sufficient fluid pressure , and first increase the flow area at a greater second rate during the
and second springs respectively resisting movement into the higher loading conditions .
first and second shifted positions , wherein the piston areas [0058 ] The valve having the variable and controllable flow
differ from one another in size and/ or the springs differ from area may be a spool and sleeve valve .
one another in stiffness. [0059 ] The one or more variable flow area valves may
[ 0051] The at least one charging - control valve may com comprise first and second variable flow area valves respec
prise a shuttle valve having a center position throttling both tively installed in the first and second main fluid lines .
the first and second charging lines and respectively connect [0060] The one or more vibration - damping valves com
ing the first and second charging lines to differently pres prise first and second pilot -operated counterbalance valves
sured outlets of the charging system , a first shifted position respectively installed in the first and second main fluid lines ,
opening the first charging line to the charging system and with a pilot of the first pilot -operated counterbalance valve
closing the second charging line from the charging system to connected to the second main fluid line and a pilot of the
define the first charging fluid supply /release state , and a second pilot -operated counterbalance valve connected to the
second shifted position opening the second charging line to first main fluid line .
the charging system and closing the first charging line from 10061] According to a third aspect of the invention , there
the charging system to define the second charging fluid is provided a method of controlling operation of a differen
supply / release state . tial hydraulic actuator via a hydraulic circuit comprising a
[ 0052 . Alternatively , the at least one charging -control reversible hydraulic pump cooperating with a differential
valve may comprise a shuttle valve having a center position hydraulic cylinder to provide a four quadrant mode opera
closing both the first and second charging lines from the tion including a first load -resistive actuator-extension quad
differently pressured outlets of the charging system , a first rant, a second load - assistive actuator - extension quadrant, a
shifted position opening the first charging line to the charg third load -resistive actuator- retraction quadrant and a fourth
ing system and closing the second charging line from the load -assistive actuator-retraction quadrant;
charging system to define the first charging fluid supply / [0062 ] first and second main fluid lines respectively con
release state , and a second shifted position opening the necting first and second sides of the reversible hydraulic
second charging line to the charging system and closing the pump to extension and retraction sides of the differential
first charging line from the charging system to define the hydraulic actuator ; a hydraulic charging system for supply
second charging fluid supply /release state. ing /releasing charging fluid to and from the first and second
10053] The at least one charging- control valve may com main fluid lines to compensate for differential flow on
prise a shuttle valve having a center position throttling or opposing sides of the differential hydraulic actuator; first and
closing both the first and second charging lines, a first shifted second charging lines respectively connecting the charging
position opening the first charging line to the charging circuit to the first and second main fluid lines ; and at least
system and closing the second charging line from the one valve operably installed in the first and /or second
charging system to define the first charging fluid supply charging lines and operable to switch between at least a first
release state, a second shifted position opening the second charging fluid supply / release state enabling flow through the
charging line to the charging system and closing the first first circuit -charging line between the first main fluid line
charging line from the charging system to define the second and the charging circuit and a second charging fluid supply /
charging fluid supply /release state , first and second piston release state enabling flow through the second circuit
areas arranged to shift the valve into the first and second charging line between the second main fluid line and the
shifted positions respectively when acted upon by sufficient charging circuit ; said method comprising running the
fluid pressure , and first and second springs respectively hydraulic circuit in a throttled mode in a critical loading
resisting movement into the first and second shifted posi zone of the four -quadrant mode of operation , and running
tions, wherein the piston areas differ from one another in the hydraulic circuit in an unthrottled mode outside the
size and / or the springs differ from one another in stiffness . critical loading zone , whereby the throttled mode provides
[0054 ] In the instance of a shuttle valve with said first and vibration dampening in the critical loading zone, while
second piston areas and first and second springs , said piston throttling energy losses are avoided outside the shifted
areas may differ from one another in size , and said first and critical loading zone.
second springs may differ from one another in stiffness. 10063 ]. The method may comprise first shifting a critical
[ 0055 ] The set of one or more valves comprises one or loading range in a load -assisted extension quadrant of the
more pilot -operated vibration -damping valves installed in reversible pump 's operation to a lower loading range , and
one or both of the main lines and configured to throttle fluid wherein running the hydraulic circuit in the throttled mode
passing therethrough during low loading conditions of the comprises running the hydraulic circuit in the throttled mode
differential hydraulic actuator, and to freely pass fluid there within the shifted critical loading range .
through in an unthrottled manner during higher loading [0064 ] According to a fourth aspect of the invention , there
conditions of the differential hydraulic actuator. is provided a method of controlling operation of a differen
[0056 ] In such instance , the one or more vibration -damp tial hydraulic actuator via a hydraulic circuit comprising a
ing valves comprise one or more variable flow area valves reversible hydraulic pump cooperating with a differential
each having a variable and controllable flow area , and hydraulic cylinder to provide a four quadrant operation
arranged to maintain a smaller flow area during the low including a first load - resistive actuator - extension quadrant, a
loading conditions before enlarging the flow area for the second load -assistive actuator- extension quadrant, a third
higher loading conditions . load - resistive actuator-retraction quadrant and a fourth load
10057] In such instance, the one or more variable flow area assistive actuator -retraction quadrant; first and second main
valves are each arranged to gradually increase the flow area fluid lines respectively connecting first and second sides of
US 2018/0266447 A1 Sep . 20 , 2018

the reversible hydraulic pump to extension and retraction connection ports are defined at spaced apart locations in the
sides of the differential hydraulic actuator; a hydraulic longitudinal direction and situated between the first and
charging system for supplying / releasing charging fluid to second connection ports in the longitudinal direction ;
and from the first and second main fluid lines to compensate
for differential flow on opposing sides of the differential [0075 ] a displaceablemember slidably disposed within the
hydraulic actuator; first and second charging lines respec housing for movement back and forth in the longitudinal
tively connecting the charging circuit to the first and second direction along which opposing first and second ends of the
main fluid lines , and at least one valve operably installed in displaceable member are spaced apart from one another, said
the first and /or second charging lines and operable to switch displaceable member having a central flow -blocking portion
between at least a first charging fluid supply / release state disposed between the second and third connection ports in
enabling flow through the first circuit-charging line between the longitudinal direction to block flow therebetween , and
the first main fluid line and the charging circuit and a second first and second flow - enabling portions respectively dis
charging fluid supply /release state enabling flow through the posed between said central flow - blocking portion and first
second circuit -charging line between the second main fluid and second outer flow -obstructing portions ;
line and the charging circuit ; said method comprising shift
ing a critical loading zone in the fourth load - assisted actua [0076 ] first and second springs biasing the displaceable
tor -extension quadrant of the four quadrant operation to a member into the default position , in which the central
lower loading range , whereby vibration amplitude in the flow -blocking portion of the displaceable member resides
critical loading zone is reduced due to lower loading values between the third and fourth flow connection ports ;
in the lower loading range of the shifted critical loading [0077 ] first and second pilot inputs operable under fluid
zone . pressure to displace the displaceable member in respective
[0065 ] The method may comprise running the hydraulic first and second directions out of the default position against
circuit in a throttled mode in the shifted critical loading the first and second springs, respectively, each pilot input
zone, and running the hydraulic circuit in an unthrottled comprising a chamber between a respective end of the
mode outside the shifted critical loading zone, whereby the housing and a respective end of the spool and having and a
throttled mode provides vibration dampening in the shifted
critical loading zone , while throttling energy losses are respective pilot path connecting a nearest one of the first and
avoided outside the shifted critical loading zone . second connection ports to said chamber;
10066 ] Either method may comprise running two different [0078 ] wherein the default position of the spool places the
charging pressures to the first and second charging lines. first and second outer flow obstructing portions of the spool
[0067 ] In either method , the at least one valve operably in positions substantially , but not fully, obstructing the first
installed in the first and second charging lines may comprise and second connection ports and placing the first and second
a dual-piloted valve having a first pilot input for displacing flow - enabling sections at the third and fourth connection
the valve in one direction and a second pilot input for the ports to enable the leakage flow from the first connection
displacing the valve in an opposing direction, in which case port to the third connection port and from the second
the method may comprise using a difference in piston area
and/ or spring stiffness between the first and second inputs to connection port to the fourth connection port, the first input
shift the critical loading zone . is operable under sufficient fluid pressure to drive the
10068 ] Either method may be performed with the hydrau displaceable member toward the first operating position in
lic circuit from the first or second aspect of the invention . the first direction to increase the opening of the second
[0069 ] According to a fifth aspect of the invention , there connection port while maintaining an open state of the
is provided a 4 -way 3 - position shuttle valve comprising: fourth connection port and reducing the leakage flow
[ 0070 ] first, second , third and fourth flow connection between the first and third connection ports before fully
ports ; closing off said leakage flow between the first and third
[ 0071] first and second pilot inputs operable to change the connection ports as the second connection port continues
valve into different respective first and second operating opening to enable free flow between the second and fourth
conditions out of a normal default position ; connection ports in the first operating position, and the
[0072 ] wherein the valve is configured for restricted flow second input is operable under sufficient fluid pressure to
therethrough via the first and third ports and via the second drive the displaceable member toward the second operating
and fourth ports in the normal default position to enable position in the second direction to increase the opening of
leakage flow from the first connection port to the third the first connection port while maintaining an open state of
connection port and leakage flow from the second connec the third connection port and reducing the leakage flow
tion port to the fourth connection port, configured for between the second and fourth connection ports before fully
unrestricted free - flow through the valve via the second and closing off said leakage flow between the second and fourth
fourth connection ports in the first operating condition while connection ports as the first connection port continues
preventing flow through the first and third connection ports , opening to enable free flow between the first and third
and configured for unrestricted free -flow through the valve connection ports in the second operating position .
via the first and third connection ports in the second oper [0079 ] In one embodiment, the displaceable member is a
ating condition while preventing flow through the second spool, the flow -blocking portion is central land of said spool,
and fourth connection ports . the flow -enabling portions are valleys of said spool disposed
[0073 ] The valve may comprise : between said central land and a pair of outer lands that define
[0074] a housing in which the first and second connection the outer flow -obstructing portions, and ends of the spool
ports are defined at spaced apart locations in a longitudinal define respective piston areas of the first and second pilot
direction of the housing , and in which the third and fourth inputs.
US 2018/0266447 A1 Sep . 20 , 2018

[0080 ] According to a sixth aspect of the invention , there which , for simplicity , will be designated to be in the first and
is provided a 2 -way select- throttling valve comprising: fourth quadrants of a four- quadrant operational area of a
[ 0081] first and second flow connection ports ; pump - controlled differential linear hydraulic actuator of
[ 0082] first and second pilot inputs operable to change the FIG . 1 .
valve into different respective first and second operating (0094 ] FIG . 3 shows more elaborate features of the critical
conditions out of a normal default closed position ; zones for the FIG . 1 circuit taking into account the effect of
[0083] wherein the valve is configured such that an open transmission line losses , Coulomb and viscous frictions and
flow path through at least one of the first and second flow cracking pressures of the POCVs.
connection ports increases at a first rate as the valve initially [0095 ] FIG . 4 schematically illustrates a first embodiment
exits the closed condition and transitions toward either of the hydraulic circuit of the present invention for pump-based
operating condition , and then increases at a greater second control of a differential linear hydraulic actuator using pair
rate as the valve approaches said either of the operating of piloted -operated check valves (potentially having differ
conditions. ent cracking pressures ) in charging lines fed by two different
[0084 ] The valve may comprise : charging pressures to shift the critical zones to lower loading
[ 0085 ) a housing having the first and second flow connec ranges .
tion ports therein ; 100961. FIG . 5 schematically illustrates a second embodi
[0086 a displaceable member slidably disposed within the ment hydraulic circuit using a singular biased shuttle valve
housing for movement back and forth along a longitudinal operated by a singular charging pressure to instead perform
axis thereof, along which opposing first and second ends of the critical zone shifting effected by the different charged
the displaceable member are spaced apart from one another , POVCs of the first embodiment.
said displaceable member having a flow - blocking portion [0097 ] FIG . 6 schematically illustrates a third embodiment
residing between first and second flow -enabling portions hydraulic circuit using a singular 4 -way 3 position shuttle
thereof; valve actuated in opposing directions by two different pilot
[ 0087 ] first and second springs biasing the displaceable pressures to both shift the critical zones and provide a
member into the default closed position , in which the leakage control action within the shifted critical zones.
flow -blocking portion of the displaceablemember blocks the [0098 ] FIG . 6A schematically illustrates a variant of the
first and second flow connection ports ; FIG . 8 circuit in which the 4 -way 3 - position shuttle valve
[0088 ] the first and second pilot inputs being operable has a closed center position rather than an open center
under fluid pressure to displace the displaceable member in position allowing some intentional leakage flow through the
respective first and second directions out of the default valve.
closed position against the first and second spring , respec [0099 ] FIG . 7 schematically illustrates a fourth embodi
tively, to shift the flow -blocking portion out of alignment ment hydraulic circuit using the two differently charged
between the flow connection ports and move a respective pilot-operated check valves of the first embodiment for
one of the first and second flow -enabling portions into place zone - shifting functionality together with a single dual-pi
between with the first and second flow connection ports ; loted selective - throttling valve on one of the main fluid lines
[ 00891 wherein at least one of the flow connection ports is to throttle flow therethrough only at the low loading values
of non - uniform cross -section with a wider inner portion at of the shifted critical zones .
an interior of the housing and a narrower outer portion 0100 ] FIG . 8 schematically illustrates fifth embodiment
connecting said inner portion to an exterior of the housing hydraulic circuit in which the single dual-piloted selective
such that the open flow -path of said at least one port throttling valve from the fourth embodiment is replaced by
increases at the first rate as the displaceable member initially two counterbalancing valves respectively installed in the
moves out of the default closed position, and then increases two main fluid lines to perform the selective throttling at the
at the greater second rate as the respective one of the low loading values , and a single - charging pressure is used
flow -enabling portions reaches and traverses across the for simplification .
narrower outer portion . 10101 ] FIG . 8A schematically illustrates a variant of the
[ 0090 ] In one embodiment, the displaceable member is a FIG . 8 circuit modified to include the differently charged
spool, the flow -blocking portion is central land of said spool pilot-operated check valves of the first and fourth embodi
that exceeds the wider inner portion of the flow connection ments for shifting of the critical loading zones .
ports in width , the flow - enabling portions are valleys of said [0102] FIG . 9 schematically illustrates a sixth embodiment
spool disposed between said central land and a pair of outer hydraulic circuit in which both the pilot-operated check
lands, and ends of the spool define respective piston areas of valves and counterbalancing valves of the fifth embodiment
the first and second pilot inputs . variant of FIG . 8A are replaced with pilot- operated selec
BRIEF DESCRIPTION OF THE DRAWINGS tive -throttling valves installed in the charging lines to both
shift the critical oscillatory zone in the load -assistive fourth
[0091] One embodiment of the invention will now be quadrant retraction of the actuator, and throttle the differ
described in conjunction with the accompanying drawings in ential flow during this critical zone.
which : [0103 ] FIG . 10 schematically illustrates a seventh embodi
[0092] FIG . 1 schematically illustrates a prior art hydrau ment hydraulic circuit in which the pilot-operated selective
lic circuit for pump -based control of a differential linear throttling valves of the sixth embodiment are replaced with
hydraulic actuator using piloted -operated check valves in a sequence valves .
cross -pump line fed by a singular charging pressure. [0104] FIG . 11 schematically illustrates an eighth embodi
[0093] FIG . 2 shows a prior art outline of critical zones ment hydraulic circuit in which one of the sequence valves
during pump mode of operation switching between the of the seventh embodiment is replaced with a pilot -operated
second
se and first quadrants and the fourth and third quadrants
rants check valve .
US 2018/0266447 A1 Sep . 20 , 2018

[0105 ] FIG . 12 shows a test rig used for experimentation [0118 ] However, the circuit differs from that of FIG . 1 in
testing of the second , fifth , seventh and eighth embodiments that the two charging lines 22 , 24 are independent from one
of FIGS. 5 , 8 , 10 and 11, including ( 1) JD -48 backhoe another and fed by two different outputs of the charging
attachment, (2) main pump unit, (3 ) charge pump unit, (PS ) system 14 '. The second charging line 24 and POCVR
pressure sensors, and (DS) displacement sensor. installed thereon are fed directly by the unidirectional charg
[0106 ] FIG . 13 shows experimental identification of criti ing pump 16 , like in the circuit of FIG . 1, but the first
cal zones (shown by hashed lines) given the prior art circuit charging line 22 and POCVA installed thereon are instead
of FIG . 1 utilizing POCVs. fed indirectly by the unidirectional charging pump 16 via a
[0107 ] FIG . 14 shows typical performance results of the pressure reducing valve 30 that reduces the pressure of the
prior art shown in FIG . 1 circuit with POCVs only in charging fluid pumped by the charging pump 16 . The
extension and retraction at 2 .54 kN external load (marked by feeding of POCVA by a lower charging pressure than
distinguished points in FIG . 13 ), and more specifically POCVR causes the critical operation zones of FIG . 3 to shift
shows the (a ) control signal applied to pump swash plate toward the origin of the actuator -velocity /load -force plot
system ; (b ) actuator velocity . along the x - axis, thus lowering the load force range spanned
[0108] FIG . 15 shows performance of the FIG . 8 circuit at by each critical zone. Since the oscillation in the hydraulic
retraction and extension of 2 .54 kN external load , and more circuit occurs at lower loading values due to this shifting of
specifically shows the : (a ) control signal: and (b ) actuator the critical oscillatory zone in the fourth quadrant, the
velocity .
[0109 ] FIG . 16 shows the control signal applied for effective degree of vibration experienced by the operator of
experimental evaluation of the FIG . 8 circuit compared to the excavator or other machine is less pronounced , thus
performance of FIG . 1 circuit . improving the overall operability of same.
[0110 ] FIG . 17 shows the actuator velocity performance of [0119 ] FIG . 5 shows a second embodiment which likewise
the FIG . 1 circuit utilizing only POCVs at 4 quadrants of performs shifting of the critical zones to lower ranges on the
operation and 0 .4 kN external load . load force axis of the four quadrant operational plot, but
[0111 ] FIG . 18 shows the actuator velocity performance of instead of using two different respective charging pressures
the FIG . 8 circuit at 4 quadrants of operation and 0 .4 kN to uniquely characterize the two different actuating inputs
external load. respectively acting on the two POVCs, the circuit instead
[0112] FIG . 19 shows energy delivered /received by main employs a singular 3 -way 3 -position double - piloted shuttle
pump in the FIG . 1 circuit that utilizes only POCVs ( dotted valve 32 that relies on a conventional single -pressure charg
line ) and the FIG . 8 circuit ( solid line ). ing system 14 and is driven by two unique pilot inputs 32a ,
[0113 ] FIG . 20 schematically illustrates a 4 -way 3 - posi 32b from the two main lines LA and LB. The purpose of the
tion shuttle valve employed in the third embodiment of FIG . charge system ' s unilateral low pressure pump, low pressure
h. relief valve and tank /reservoir is feeding or releasing flow
10114 ] FIG . 21 schematically illustrates a dual-piloted from each of the main lines as the operation requirements .
selective -throttling valve employed in the fourth embodi In quadrants 1 and 2 the charge pump 16 of the charging
ment of FIG . 7 . system feeds the line LB and LA to balance the flow to the
[0115 ] FIGS . 4A , 5A , 6B , 7A , 8B , 8C , 9A , 10A and 11A main pump and actuator respectively . In quadrants 3 and 4 ,
show the flow of hydraulic fluid through the circuits of the relief valve in the charging system allows the release of
FIGS. 4 , 5 , 6 , 7 , 8 , 8A , 9, 10 and 11 , respectively, in each of the extra flow from lines LA and LB, respectively. Rather
the four quadrants of operation , with the first to fourth than differing in terms of their charge pressure source , these
quadrant operations shown sequentially counter - clockwise uniquely characterized pilot inputs 32a , 32b instead differ
from the top right corner of the figure. from one another in terms of the piston surface area and / or
[0116 ] In the drawings like characters of reference indicate spring constant used at each input. The shuttle valve is
corresponding parts in the different figures . connected between the singular output of the single -pressure
charging system 14 and each of the two charging lines 22 ,
DETAILED DESCRIPTION 24 , and is biased into a center position by a pair of springs
34a, 346 . In this default center position , the valve 32 closes
[0117 ] FIG . 4 illustrates a first embodiment hydraulic both of the charging lines 22 , 24 from the singular outlet of
circuit of the present invention that, like the prior art circuit the charging system , thus defining a normally -closed con
of FIG . 1, features the same layout of a reversible hydraulic dition of the valve 32 . The first pilot input 32a is fed from
pump 10 , a single- rod differential linear actuator 12 , and first the first charging line 22 by a first pilot path 36a, where the
and second main fluid lines LA, L , respectively connecting fluid pressure from the first charging line 22 acts on the
the first and second sides of the reversible pump 10 to the piston area Aps of the first pilot input 32a to drivemovement
extension and retraction sides 12a , 12b of the actuator , and of the shuttle valve in one direction . The second pilot input
likewise includes first and second pilot- operated check 32b is fed from the second charging line 24 by a second pilot
valves POCVA, POCVR respectively installed on first and path 36b , where the fluid pressure from the second charging
second charging lines 22 , 24 that connect the first and second line 24 acts on the piston area App of the second pilot input
main fluid lines L4, Le to a charging system 14 ' with a 32b to drive movement of the shuttle valve in the opposing
unidirectional pump 16 . Once again , the POCVs are oper direction . First spring 34a , has a first spring constantks, that
ated by way of cross pilot lines 26 , 28 each connecting the opposes actuation of the shuttle valve in the first direction by
pilot port of the respective POCV to the opposing main fluid the pilot pressure at first input 32a , while second spring 346
line, whereby the differential flow to and from the cylinder has a different second spring constant kso that opposes
in all four quadrants is accommodated in the same manner actuation of the shuttle valve in the second direction by the
described for the prior art in the preceding background . pilot pressure at second input 32b . The ratio between the two
US 2018/0266447 A1 Sep . 20 , 2018

charge pressures and the ratio between the two spring 30 than directly from the charge pump 16 . Accordingly , the
stiffnesses are related to the ratio of the two piston areas. shuttle valve 32 ' in this embodiment is a 4 -way 3 -position
[0120 ] In a first shifted position of the valve resulting from shuttle valve. In the default center position , the valve 32'
actuation of the valve 32 via first pilot input 32a against the provides a throttled connection of first charging line 22 to
resistance of first spring 34a , the valve connects the second the lower pressure side of the dual-pressure charging system
charging line 24 to the charging system 14 ,while closing off 14 ', and a throttled connection of second charging line 24 to
the first charging line 22 therefrom . In the second shifted the higher pressure side of the dual-pressure charging sys
position of the valve resulting from actuation of the valve 32 tem 14 '. In the first shifted position caused by sufficient
via second pilot input 32b against the resistance of second pressurization of pilot input 32a against the resistance of
spring 34b , the valve 32 connects the first charging line 22 spring 34a , second charging line 24 is connected to the
to the charging system 14 , while closing off the second higher pressure side of the dual- pressure charging system 14 '
charging line 24 therefrom . So like the POCVs in the first for free - flowing unthrottled connection therebetween , while
embodiment circuit of FIG . 4 , the shuttle valve 32 connects first charging line 22 is closed off from the charging system .
the charging system to the firstmain fluid line LA via the first In the second shifted position caused by sufficient pressur
charging line 22 in the second and third quadrants of ization of pilot input 32b against the resistance of spring
operation , and connects the charging system to the second 34b , first charging line 22 is connected to the lower pressure
main fluid line LB via the second charging line 24 in the first side of the dual-pressure charging system 14 ' for free
and fourth quadrants of operation , thereby accommodating flowing unthrottled connection therebetween , while second
the differential flow into and out of the actuator in all charging line 24 is closed off from the charging system .
operational modes. However, by characterising the two [0124 ] The initially centered position of throttle valve 32'
actuation inputs of the shuttle valve 32 from one another by thus allows some intentional leakage of fluid between the
either piston area , resistive spring constant, or both , the main lines L 4. Lg to the charging system 14 ' at lower loading
singular charging pressure can accomplish the critical zone conditions , until enough pilot pressure builds up to drive the
shifting function performed by the differently charged shuttle valve into one of its two shifted free - flowing
POCVs of the first embodiment. To accomplish this result, unthrottled conditions. Like in the first two embodiments,
first input 32a is characterized by a larger piston area than the use of different charging pressures and the use of
second input 32b and/or by lesser spring stiffness at spring different piston areas and/ or spring constants cause the
34a than at spring 34b . critical loading zones to shift to lower loading conditions of
[0121 ] If the valve 32 instead had two identical pilot areas the operational map , during which dampening of the oscil
and springs of equal stiffness , undesirable switching back lations in the oscillatory critical zone is performed by the
and forth between the two shifted positions of the valve (i. e . intentional leakage to the charging system through the
critical zone conditions ) would occur around the area where throttled center position ports of the valve. The amplitude of
the two pilot pressures from lines 22 and 24 are close to each the oscillations are thus dampened , thereby reducing the
other. At this condition , there would be a bias force exerted vibrational effect on the overall machine to improve the
on the actuator due to the area difference between the two performance quality thereof. In the meantime, differential
faces of the actuator piston 18 . By using the differently flow to and from the actuator is accommodated over the full
characterized inputs , the shuttle valve of the inventive circuit operational area by opening up of second charging line 24
accomplishes bias -balancing pressures because shifting the between the charging system and the second main fluid line
pressure balance at valve where switching occurs shifts the in quadrants 1 and 4 , and by opening up of first charging line
bias- force at the actuator (and consequently the load ) to null 22 between the first main fluid line and the charging system
value . in quadrants 2 and 3 . In brief, the circuit acts to reduce the
[0122 ] Shifting the critical zones causes the propermatch critical load value corresponding to the undesirable regions,
ing between the main pump null position (zero control thereby shifting the undesirable/ critical performance region /
volt - zero swash angle - > -zero flow ) and the actuator null zones in the oscillatory zone 6 towards the central origin of
position (zero actuation force ->zero velocity ), thereby the load - force/actuator- velocity plot along the load - force
avoiding the bias force created in the prior art by the single axis to a lower range of loading values within which the
charge pressure and the identical valve(s ) resulting in unde undesirable performance may be induced , and applies leak
sirable and uncontrollable motion , especially if there is no age to dampen vibration at this shifted critical region . This
resistive load , which can create dangerous conditions in reduces the leakage needed to stabilize the system and saves
various applications, including applications other than exca energy compared to the prior art. This embodiment is
vation machine actuator control. believed to possess improved performance compared to the
[0123 ] FIG . 6 shows a third embodiment hydraulic circuit first two embodiments , but has a more complex design .
again using a singular shuttle valve 32 ' having two pilot [0125 ) FIG . 20 schematically illustrates the shuttle valve
inputs 32a, 32b for driving the valve in opposing directions 32' of the FIG . 6 circuit . In the illustrated example , the valve
out of a default center position against the resistance of is a spool valve in which an internal spool member 100 is
respective springs 34a , 34b , and using different piston areas linearly displaceable back and forth on a longitudinal axis of
and / or resistive spring constants for the two inputs . Like in an outer housing 102 in which four flow connection ports
FIG . 5 , the first and second pilot inputs 32a , 32b are 104a , 104b , 105a , 105b open radially into the housing . First
respectively fed by first and second pilot paths 36a, 36b and second connection ports 104a , 104b respectively con
coming off the first and second charging lines 22 , 24 . nect to charging lines 22 , 24 , while third and fourth con
However, instead of using the conventional single - pressure nection ports 105a , 105b respectively connect to the lower
charging system 14 of FIG . 5 , the circuit instead uses the and higher pressure sides of the charging system . The third
dual-pressure charging system 14 ' of FIG . 4 , with a lower and fourth charging system ports are closer to one another
charging pressure provided from the pressure reducing valve and closer to the center of the valve than the first and second
US 2018/0266447 A1 Sep . 20 , 2018

charging line ports . The displaceable spool member features charging system connection port 105b from one another
a flwo -blocking central land 106 , two neighbouring flow while further opening the first charging line connection 104a
enabling valleys 107 on opposing sides thereof, and two to enable flow between the first charging line and the lower
flow -obstructing outer lands 108a , 108b atopposing ends of pressure side of the dual -pressure charging system .
the spool. A respective chamber is defined between each end [0128 ] FIG . 6A shows a variant of the FIG . 6 circuit in
of the displaceable spool member and a respective closed which the 4 -way 3 -position shuttle valve is not open in its
end of the housing, and each chamber is fed by a respective default center position to allow throttled leakage there
channel in the housing wall that connects the chamber to a through , and instead is fully closed in the center position .
respective one of flow connection ports 104a , 104b . Each [0129 ] FIG . 7 illustrates a fourth embodiment hydraulic
chamber and the respective outer landed end of the spool circuit of the present invention , which like the first embodi
thus collectively define a respective one of the pilot inputs ment circuit of FIG . 4 features first and second pilot
32a , 32b , at which the respective end of the spool defines the operated check valves POCVA, POCVB respectively
piston area of this pilot input, while the respective channel installed on first and second charging lines 22, 24 that
of each chamber defines the respective pilot path 36a , 36b connect the first and second main fluid lines LA, Lg to lower
for fluid -based operation of the pilot input. and higher pressure sides of the dual-pressure charging
[0126 ] Springs 34a , 34b each reside between one end of system 14 ', and are operated by way of cross pilot lines 26 ,
the displaceable spool member and a respective end of the 28 each connecting the pilot port of the POCV to the
housing to bias the spool into the centered position , where opposing main fluid line. The fourth embodiment thus
the central land 106 of the spool resides between the first and features the same critical zone- shifting functionality as the
second charging line connection ports 104a, 104b and first embodiment to reduce oscillatory behaviour in the
between the third and fourth charging system connection actuator of the machine by reducing the load range over
ports 105a, 105b . In the centered spool position , the first and which critical loading oscillation occurs in the fourth quad
second flow - obstructing outer lands 108a , 108b respectively rant of operation .
block off the substantial majority of the charging line [0130 ] The fourth embodiment circuit differs from the first
connection ports 104a , 1046 , but leave a small fraction of embodiment in the addition of a selective -throttling valve
each charging line connection port open at the side thereof 32 " , and differs from the second and third embodiments in
nearest the other charging line connection port . In the both the type of valve employed for this dampening function
centered spool position , the third charging system connec and its position within the circuit . Particularly, the illustrated
tion port 105a is left open at the first flow -enabling spool valve 32 " is a 2 -way valve installed in the first main fluid
valley 107a , and the fourth charging system connection port line L A near the connection thereof to the extension side 12a
105b is likewise left open at the second flow -enabling spool of the actuator 12 . Like the correspondingly numbered
valley 107b. This way, in the normal centered position of the valves 32 , 32 ' of the preceding embodiments , the purpose of
valve spool, some intentional fluid leakage can occur this vibration dampening valve 32 " is to reduce oscillations
between the first charging line connection port 104a and the under critical loading conditions. This valve 32 " may alter
third charging system connection port 105a , and also natively be installed in the second main fluid line Lp, but
between the second charging line connection port 104b and locating the valve 32 " in the first main line L , is preferred ,
the fourth charging system connection port 105b. since experimental results have showed that oscillatory
[0127 ] Under application of sufficient pressure against the motions are more noticeable during actuator retraction of
first landed end of the spool at the first pilot input 32a, the assistive load ( quadrant 4 ), where the load is acting to
spool shifts in first direction along the longitudinal axis of pressurize the fluid in the capped extension side of the
the housing, moving the first outer land 108a into a position actuator. The pilot- operated actuation inputs at 32a , 32b at
fully sealed with an intact area of the housing ' s internal opposing ends of the valve 32 " are activated via pilot paths
periphery at a location situated axially between the first 36a, 36b from the two pilot lines 26 , 28 of the POCVs,
charging line connection port 104a and the third charging whereby fluid pressure from first main fluid line L , drives
system connection port 105a , thereby fully closing off these the valve in one direction out of a normally centered
two ports from one another. At the same time, the second position , while fluid pressure from second main fluid line LR
outer land 108b is pushed toward the nearest end of the drives the valve in an opposing direction out of the normally
housing in order to further open the second charging line centered position . Once again , motion of the valve 32 " in
connection port 104b. This travel is short enough that the each direction out of center is resisted by a respective spring
central land 106 remains between the third and fourth 34a , 34b, whereby the springs cooperate to normally center
charging system ports 105a, 105b and thus does not close off the valve . Spring 34a resists pressure -based operated of
the fourth charging system connection port 105b from the piloted input 32a, while spring 34b resists pressure-based
fully opened second charging line connection port 104b . actuation of piloted input 32b .
Accordingly, the second charging line connection port 104b 10131] The valve has a variable flow area controlled as a
and the fourth charging system connection port 105b are function of the piloting pressure differential, for example
open to one another in this first shifted position to enable using a spool-sleeve throttling configuration and balance
flow between the second charging line and the higher springs to achieve the flow - area profile shown in the inset of
pressure side of the dual-pressure charging system , while the FIG . 7 , where it can be seen that at its centered position
first charging line and the lower pressure side of the dual (zero -displacement ), the open flow area of the valve is zero .
pressure charging system are closed off from one another by In each direction from the centered position , the flow - area
the first outer land 108a of the spool. With sufficient pilot gradually increases at a first rate denoted by the gradual
pressure at the second input 32b , shifting in the reverse slope shown rising slowly away from the origin of the
direction likewise uses the second outer land 108b to close graphical represented flow - area profile in the FIG . 7 inset,
the second charging line connection port 104b and the fourth until the flow -area 's rate of increase rises dramatically at a
US 2018/0266447 A1 Sep . 20 , 2018

predetermined point of displacement, as shown by the a flow -blocking portion of the spool closing off the two flow
transition to a notably steeper slope in the graphically connection ports 2040 , 204b to define the normally closed
represented profile . Within the displacement range between state of the valve. The flow -blocking central land 206 is
the predetermined displacement points in the positive and neighboured by two flow - enabling valleys 207 on opposing
negative directions from center, the low flow -through area of sides thereof to define two flow -enabling portions of the
the valve performs a throttling action on the fluid passing spool.
therethrough . Beyond these points the flow - through area of [0134 ] With continued reference to FIG . 21, each flow
the valve increases quickly to a free -flow state allowing the connection port has a non - uniform cross section having a
fluid to pass freely therethrough with no throttling action narrow portion of smaller cross - sectional area intersecting
thereon . The pre - set displacement points at which the valve the exterior of the housing and a wider portion of larger
transitions from its throttling condition to its free- flowing cross -sectional area intersecting the interior of the housing.
state are set for a given circuit according to the pilot The wider portion of this stepped - width port structure spans
pressures at which the load value F , has moved beyond the a shorter axial length of the connection port (i.e . radial
critical range, whereby throttling of the fluid in the hydraulic thickness of the housing walls ) than the smaller diameter
circuit is only performed in the critical zones to dampen the portion of the connection port. The central land 206 of the
vibration / oscillation experienced therein , while the free displaceable spool member 200 is wide enough to fully span
flowing state of the valve avoids unnecessary throttling in all the wider portion of each connection port at the interior of
other regions, which represent the majority of the overall the housing wall , thus fully closing off the two flow con
operating area of the circuit. The energy inefficiencies of nection ports from one another.
throttling are therefore only exploited where needed , while [0135 ] When the pilot pressure in one of the pilot inputs
efficient unthrottled operation of the circuit is retained 32a , 32b of the FIG . 21 valve is high enough to overcome
elsewhere . the bias of the respective spring 34a , 34b at the opposing end
[0132 ] In other words, the main idea behind the FIG . 7 of the valve , the shifting of the spool 200 toward the
circuit is to utilize flow throttling to control the actuator opposing end of the housing 202 starts to open up the two
motion , exclusively , in the regions where responses are not flow connection ports 204a, 204b by moving the flow
satisfactory . In other regions, motion is controlled in a blocking central land 206 out of alignment between the flow
throttle- less manner. Throttling of hydraulic fluid creates connection ports and shifting the neigbouring flow -enabling
pressure drop across the valve orifices maintaining increased valley 207 into place between the flow connection ports .
pressure in cylinder chambers compared to pump ports During this initialmovement, flow through each connection
which contribute towards a stiffer actuator [ 24 , 28 ]. The port 204a , 204b is restricted to a path moving around the
circuit of FIG . 7 possesses a comparable energy efficiency central land of the spool via a small axial flow path travelling
and energy regeneration ability to the prior art circuit with axially of the housing and delimited between the outer
POCVS ( FIG . 1 ) at high loading conditions , and the stability periphery 206a of the central land and the shoulder or step
of the prior art circuits with throttling valves (not shown ) at 208 created at the transition between the two differently
low loading conditions. Furthermore , the present design sized portions of the port, and a small radial flow path
does not require additional electronic control, which is opening into the respective flow - enabling valley 207 that is
desirable in industrial settings. Instead , the valve 32 " is moving into place between the widened inner ends of the
pilot -operated through the same pilot lines that actuate the connection ports 204a , 204b. As the pilot pressure increases
POCVs in order to dampen the undesirable responses in the and more of the flow - enabling valley 207 moves into the
regions of interest . The valve also throttles the flow in the space between the connection ports 204a , 2045 , the radial
transmission line when the two pilot pressures are close to flow path increases in size while the axial flow path remains
each other , but allow free flow in and out of the actuator constant, until the flow enabling -valley 207 reaches the
when the two pilot pressures are not close to each other and space between the narrowed outer ends of the connection
throttling is unnecessary . ports 204a , 204b .
[0133] FIG . 21 schematically illustrates the dual -piloted [0136 ] At this point, the fluid is no longer limited to a flow
selective -throttling valve 32 " employed in the fourth path around the central land 206 via the constricted axial
embodiment of FIG . 7 . In the illustrated example , the valve flow path , as direct radial flow straight through the narrower
is a spool valve in which an internal spool member 200 is outer portion of each port is now also allowed . As the
linearly displaceable back and forth on a longitudinal axis of flow - enabling valley 207 of the spool moves into full
an outer sleeve - shaped housing 202 in which two flow alignment between the connection ports, the overall avail
connection ports 204a , 204b open radially into the housing able flow area thus now increases at a greater rate , as more
in alignment with one another at diametrically opposing and more area of the narrower outer portions of the flow
points of the housing near an axial center thereof. Pilot ports connections points are opened by movement of the flow
205a , 205b open into the housing at longitudinally opposing blocking land fully out from between the connection ports.
ends thereof and feed into respective chambers defined In the fully shifted position of the spool, the respective
between the ends of the displaceable spool member and the flow -enabling valley 207 spans the full width of the widened
respective ends of the housing . Each chamber, the respective inner ends of the connection ports , thus maximizing the
pilot port, and the respective end of the spool thus define a available flow area to enable unthrottled free flow through
respective one of the pilot inputs 32a , 32b , at which the the valve . Outer flow -blocking lands 214a, 214b at the
respective end of the spool defines the piston area of this opposing ends of the spool seal off the flow -enabling valleys
pilot input. Springs 34a , 34b each reside between one end of 207 and the connection ports 204a , 204b from the pilot
the displaceable spool member and a respective end of the inputs 32a , 32b at the ends of the housing . Accordingly, the
housing to bias the spool into the centered position , where flow through the valve is only throttled during initial dis
a central land 206 of the displaceable spool member forms placement of the spool at low loading conditions of the
US 2018/0266447 A1 Sep . 20 , 2018

hydraulic circuit , until central flow -obstructing land if the pump (Quadrant 2 , FIG . 3 ), where the check -valve equipped
displaceable spool 206 clears the respective shoulder 208 of bypass 40a of CBVA allows output fluid from the motoring
each stepped -width connection ports . reversible pump 10 to again flow freely in an unthrottled
[0137 ] FIG . 8 shows a fifth embodiment circuit which manner to the extension side of the actuator , while the
employs the same selective -throttling operation principle as check -valve equipped bypass 40b of CBVs prevents the
the fourth embodiment, but uses readily available off-the fluid exiting the retraction side of the actuator from bypass
shelf parts in place of the unique valve 32 " to provide similar ing CBVB, which due to the pilot pressure in pilot path 36b
selective -throttling effect. In the FIG . 8 implementation , first is opened initially into a throttling position , and eventually
and second counterbalance valves CBVA, CBV , are instead into a free - flowing state as the pilot pressure increases.
installed in the first and second main fluid lines LA, LB , [0140 ] During load -resisting retraction of the actuator in a
respectively , near the connections to the extension and pumping -mode of the reversible pump (Quadrant 3 , FIG . 3 ),
retraction sides of the actuator 12 . Generally, CBVs are the check - valve equipped bypass 40b of CBVs allows
throttling valves typically used for safety requirements pumped fluid from the reversible pump 10 to flow freely in
through the whole working range actuator operation . They an unthrottled manner to the retraction side of the actuator,
have been used in some pump -controlled applications [6 ,24 , while the check -valve equipped bypass 40a of CBVA pre
15 ,29], but with no ability to regenerate energy [ 24 ]. Here , vents the fluid exiting the extension side of the actuator from
the CBVs are utilized to only restrict flow at low loading bypassing CBVA, which due to the pilot pressure in cross
conditions to enhance the performance while allowing free pilot line 38a is opened initially into a throttling position ,
flow at high loading conditions to allow energy regeneration . and eventually into a free -flowing state as the pilot pressure
CBV?, is operable by pressure at a respective pilot inputport increases. Finally, during load -assisting retraction of the
32a fed by a cross pilot line 38a connected to the second actuator in a motoring -mode of the reversible pump ( Quad
main fluid line LB , while CBVB is operable by pressure at a rant 4 , FIG . 3 ), the check - valve equipped bypass 40b of
respective pilot input port 32b fed by a cross pilot line 38b CBVs allows output fluid from the motoring reversible
connected to the first main fluid line L 4. In addition to the pump 10 to flow freely in an unthrottled manner to the
cross pilot line from the opposing main fluid line, the pilot retraction side of the actuator, while the check - valve
inputof each CBV is also fed by a respective pilot path from equipped bypass 40a ofCBVA prevents the fluid exiting the
the samemain fluid line on which the valve is installed, from extension side of the actuator from bypassing CBV4, which
a point situated on the actuator-side of the valve . This is due to the pilot pressure in the pilot path 36a is opened
shown in the figure by pilot path 36a ofCBV , and pilot path initially into a throttling position , and eventually into a
36b of CBVB: free - flowing state as the pilot pressure increases.
[0138 ] Each CBV is normally closed , and is only opened [0141] In addition to the described throttling at low load
on the presence of the sufficient pilot pressure from either or ing conditions in each quadrant by one of the two CBVs,
both of its pilot sources 36a, 32a / 36b , 32b. In its initial FIG . 8 employs the same use of two POCVs fed by a
stages of opening, each CBV is only partially opened , and singular charge pressure to accommodate the differential
has a reduced flow area relative to the respective main fluid flow across the actuator, as described above in relation to
line, thus throttling the fluid passing through it . However, as FIG . 1 , unlike the FIG . 7 circuit which uses two different
the respective pilot pressure increases due to the rising charge pressures for the respective POCVs to shift the
pressure at the other main fluid line, the CBV opens further, critical loading zones to lower loading ranges. The charging
exposing an unrestricted flow area allowing free , unthrottled system in FIG . 8 is denoted solely by accumulator 20 , with
flow therethrough . So like the pilot- controlled spool and the remainder of the charging system , including the charge
sleeve valve 32 of FIG . 7 , the CBV only throttles at low pump 16 , omitted for illustrative simplicity . The two CBVS
loading values , thus limiting throttling primarily, if not are thus set such that the throttling occurs up to the upper
entirely, to the critical zones shifted down to such lower limit of the unshifted critical zone, beyond which the CBV
loading ranges in the operational performance map . In brief, fully opens to a non-throttling condition .
this embodiment employs a singular charge pressure source 10142 ] FIG . 8A shows a variant of the FIG . 8 circuit ,
and two POCVs and two counterbalance valves (CBVs) for which employs the same use of two CBVs to perform select
limited throttling . Compared to the prior art, this design throttling only below the upper loading limits of the critical
reduces the throttling margin and saves energy, while pro loading zones, but includes the FIG . 7 arrangement of two
viding more flexibility , including use of separate settings for different charging pressures respectively applied to the two
each CBV to deal with the two different regions of unde POCVs. This way, the shifting of the critical load value and
sirable performance . surrounding critical loading zone to a lower range of load
[0139] FIG . 8 shows the circuit during load -resisting values means that the upper limit of the critical loading zone
extension of the actuator in a pumping -mode of the revers at which the CBV switches from throttled to unthrottled
ible pump 10 (Quadrant 1 , FIG . 3 ), where the check -valve operation is lower, whereby throttling is performed over a
equipped bypass 40a of CBVA allows pumped fluid from the lesser overall fraction of the total operating area , thus
reversible pump 10 to freely flow in an unthrottled manner improving the efficiency of the circuit.
to the extension side of the actuator, while the check - valve [0143] FIG . 9 shows a sixth embodiment circuit, which
equipped bypass 40b of CBVR prevents the fluid exiting the employs both concepts of centering the critical zones and
retraction side of the actuator from bypassing CBVB, which throttling the flow only in the shifted critical zones. This
due to the pilot pressure provided from first main fluid line embodiment replaces each POCV of the first embodiment
L , through cross pilot line 38b is opened initially into a with a respective 2 -way single - pilot select -throttling valve
throttling position , and eventually into a free - flowing state 42a , 42b . Like the 2 -way dual-pilot select-throttling valve of
as the pilot pressure increases. During load -assisting exten - FIG . 7 , each single - pilot throttling valve 42a , 42b has a
sion of the actuator in a motoring -mode of the reversible controllable variable flow area that increases at a first rate
US 2018/0266447 A1 Sep . 20 , 2018
13

during initial displacement, before increasing more rapidly valve 44b are respectively operated by cross pilot lines 26 ,
under further displacement. However, displacement out of 28 , whereby the circuit once again provides both critical
the normal default position is only possible in one direction . zone shifting and selective -throttling functionality .
The first throttling valve 42a has a single pilot input 32a at 10146 ] Each of the forgoing embodiment uses valves that
one end thereof , actuation of which is resisted by a respec are exclusively pilot -operated (requiring no electronic moni
tive spring 34a at the opposing end thereof. The second toring and control components ) not only to perform the
throttling valve 426 likewise has a single pilot input 32b at acceptable switching necessary to accommodate differential
one end thereof, actuation of which is resisted by a respec flow to and from a single rod actuator ( i.e . switching
tive spring 34b at the opposing end thereof. The pilot input between a first circuit -charging state enabling flow through
32a of the first throttling valve 42a is fed by a cross-pilot line the first circuit -charging line between the first main fluid line
26 from the second main fluid line Lg while the pilot input and the charging circuit, and a second circuit -charging state
32b of the second throttling valve 42b is fed by a cross- pilot enabling flow through the second circuit -charging line
line 28 from the first main fluid line L 4. The first throttling between the second main fluid line and the charging circuit ),
valve 42a is connected between the first charging line 22 and but also to use one or more varying characteristics (applied
the lower pressure side of the dual-pressure charging system charge source, piston area , spring constant) between the two
14 ', while the second throttling valve 42b is connected respective valve - actuating inputs such that the critical load
between the second charging line 24 and the higher pressure value and associated range at which problematic operation
side of the dual- pressure charging system 14 '. Each selec would otherwise occur is shifted toward the center of the
tive - throttling valve 42a , 42b is a normally closed valve that four quadrant operational map along the load force axis
closes off the charging system from the respective charging thereof. Select embodiments additionally or alternatively
line in the default valve position , but then initially throttlles employ one or more valves in the main lines or charging
the fluid passing therethrough during the initial portion of its lines that are again exclusively pilot -operated (requiring no
displacement due to the low flow -area opened therein , and electronic monitoring and control components ) to provide
then allows unthrottled flow during later stages of displace selective throttling only below the upper limits of the critical
ment due to the larger flow - area opened up therein . As with loading zones , while allowing more efficient throttle -less
the other selective -throttling embodiments, each valve is set flow in the larger operational areas outside the critical
so that the free - flow state is achieved once the critical zone loading zones. In each case , four- quadrant operation is fully
has been cleared , whereby throttling only occurs at low retained whereby motoring of the pump in two quadrants
loading conditions below the upper limit of the critical zone , can be used for regeneration purposes for optimal efficiency .
which is shifted toward center due to the use of two different [0147 ] FIG . 12 shows a test rig constructed for this study
charging pressures for the two valves 42a , 42b . This and its schematic drawing. The test rig was a John Deere
embodiment is more efficient than the fourth embodiment, as backhoe attachment ( JD -48 ) equipped with a variable dis
it only restricts the differential flow (i.e . the flow passing placement pump unit , a charge pressure unit and instrumen
through the charging lines ), which is only around 25 % of the tations. It was designed to facilitate the implementation of
main flow . Consequently, this reduces the energy losses due different hydraulic actuation circuits.
to throttling, and reduces the number of components and [0148 ] In testing the fifth embodiment circuit of FIG . 8 ,
complexity of the circuit required to accomplish both critical different loading conditions were applied to the stick actua
zone shifting and vibration damping within the shifted tor and responses were obtained at different velocities in
critical zone . each of the four quadrants. Experimental results showed
10144 ) FIG . 10 shows a seventh embodiment that like the good performance when pump runs only in single mode of
sixth embodiment accomplishes both critical zone shifting operation away from the switching regions shown in FIG . 3 .
functionality and selective-throttling functionality within the [0149 ] FIG . 13 shows the results categorized based on
shifted critical zones using only a single set of off -the -shelf quality of performance and plotted on the F , - v , plane . Each
valves, which in this case are sequence valves 44a, 44b . The vertical set of points in the figure represents different actua
first sequence valve 44a is operated by a first cross pilot line tor velocities for one load value. Areas hatched with dashed
26 connected to the second main fluid line LR, while the lines are regions where the pump switches mode of opera
second sequence valve 44b is operated by a second cross tion during actuator extension and retraction . Operation in
pilot line 28 connected to the first main fluid line La. The these regions using the prior art exhibits deteriorated per
resulting effect is similar that of the sixth embodiment, formance . FIG . 14 shows prior art circuit performance
wherein the normally closed sequence valve normally closes covering two regions. The experiment was done for a load
off the respective charging line from the charging system , of 2 .54 kN during extension ( va = 5 cm / s ) and retraction
and throttles the fluid only during an initial part of its (va = - 9 cm / s). As it is seen the second portion illustrates the
opening stroke before fully opening its through - path to circuit performance at oscillatory retraction . These experi
enable free unthrottled flow between the charging system mental results validate the discussion presented in the earlier
and the respective charging line. Once again , only the background .
differential flow in the charging lines is throttled , not the [0150] A first experiment using the FIG . 8 circuit was
main flow in the main lines L4, LB designed to demonstrate performance improvements at low
[0145 ] Finally , FIG . 11 shows an eight embodiment loading conditions. A second set of tests was performed to
employing a singular pilot- operated check valve POCVA show the circuit performance and energy consumption dur
installed between the first charging line 22 and the lower ing operation spanning all four quadrants . FIG . 15 shows the
pressure side of the of the dual-pressure charging system 14 ' performance in a typical retraction extension of actuator
and a singular sequence valve 44b between the second with constant load similar to test shown in FIG . 14 ) .
charging line 24 and the higher pressure side of the dual Actuator velocity and pressure graphs show that the circuit
pressure charging system 14 '. The POCV and the sequence response is non -oscillatory .
US 2018/0266447 A1 Sep . 20 , 2018
14

[0151 ] In the second set of experiments, the load of 0 .4 kN tem . Symposium on Fluid Power and Motion Control
was applied to the full setup shown in FIG . 12 . The (FPMC 2008), Bath , UK , 2008; pp 437 - 449.
experiments were repeated for both the inventive FIG . 8 [0158 ] 2 . Aly, A . A .; Salem , f. A .; Hanafy, T . O . Energy
circuit and the prior art FIG . 1 circuit that utilizes the Saving Strategies of an Efficient Electro -Hydraulic Cir
POCVs. The wave square control signal input (FIG . 16 ) was cuit ( A review ). International Journal of Control, Auto
applied to the pump to move the stick link carrying the mation and Systems 2014 , 3 (3 ), 6 - 10 .
external load of 0 .4 kN . [0159] 3 . Hansen , R . H .; Andersen , T . O .; Pedersen , H . C .
10152] Results for both circuits are shown in FIGS . 17 to Development and Implementation of an Advanced Power
19 . It is clear that the prior art FIG . 1 circuit with the POCVs Management Algorithm for Electronic Load Sensing on a
exhibits oscillation during switching from assistive to resis Telehandler. ASME/BATH Symposiom on Fluid Power
tive loading modes in actuator retraction . The oscillatory
response is shown clearly in velocity plot. Results also show
and Motion Control, Bath , UK , 2010 .
[0160 ] 4 . Eriksson , B . Mobile Fluid Power Systems
that performance of the proposed circuit is smooth without Design with a Focus on Energy Efficiency ; PhD Thesis ,
any significant oscillation during switching modes . Linköping University : Sweden , 2010 .
[0153] The inventive FIG . 8 circuit, however, consumes [0161] 5 . Zimmerman , J.; Pelosi, M .; Williamson , C .;
more energy than the prior art FIG . 1 circuit with only Ivantysynova , M . Energy Consumpion of an LS Excava
POCVs as shown in FIG . 19 . The delivered hydraulic energy tor Hydraulic System . 2007 ASME International
from the pump to the circuit is calculated as the multipli Mechanical Engineering Congress and Exposition ,
cation of pressure differential across the pump by the flow Seattle, Wash ., USA , Nov . 11- 15 , 2007.
rate , Womh = (pa - p . ) Q . Q was calculated by multiplying the [0162 ] 6 . Jalayeri, E .; Imam , A .; Sepehri, N . A Throttle
actuator measured velocity and the piston effective area . less Single Rod Hydraulic Cylinder Positioning System
Results showed that both circuits consume energy when load for Switching Loads . Case Studies in Mechanical Systems
is resistive and recuperate energy when load is assistive. For and Signal Processing http ://dx .doi.org /10 .1016 /j.
this experiment, the average delivered hydraulic energy csmssp . 2015 .06 .001.
from the pump to the circuit was 17 . 1 W for the prior art [0163 ] 7 . Li, J.; Fu, Y.; Wang , Z ., Zhang , G . Research on
FIG . 1 circuit that utilizes only POCVs and was 36 W for the fast response and high accuracy control of an airborne
inventive FIG . 8 circuit . The average received (recuperated ) electro hydrostatic actuation system . 2004 International
hydraulic energy from the circuit to the pump are 7 .2 W and Conference on Intelligence , Mechatronics and Automo
2 . 9 W for the prior art FIG . 1 circuit that utilizes only tion , Changdu , China, 2004 .
POCVs and the inventive FIG . 8 circuit, respectively . The [0164 ] 8 . Quan , Z .; Quan , L .; Zhang , J. Review of energy
extra energy consumed by the inventive FIG . 8 circuit was efficient direct pump controlled cylinder electro -hydrau
used to overcome the hydraulic resistance generated by the lictechnology . Renewable and Sustainable Energy
CBVs to stabilize the system . Note that, the extra needed Reviews 2014 , 35 , 336 -346 .
energy reduces as the load increases . [0165 ] 9 . Bossche, D . The A380 flight control electrohy
101541 Comparison was also made of the energy con drostatic actuators, achievements and lessons learnt. 25th
sumed by the inventive FIG . 8 circuit to a valve - controlled International Congress of Aeronautical sciences, Ham
circuit. Considering a valve -controlled hydraulic system is burg, Germany, 2006 .
equipped with a pressure compensated pump, the pump [0166 ] 10 . Hewett , A . Hydraulic circuit flow control. U .S .
energy consumption equals to the nominal pump pressure Pat. No . 5 , 329 ,767, Jul. 19, 1994 .
multiplied by the flow rate . Knowing that the maximum [0167] 11 . Rahmfeld , R .; Ivantysynova , M . Displacement
pressure value in the experiment shown in FIGS. 16 , 17 and
18 is 8 MPa , the pump nominal pressure was set in the of controlled linear actuator with differential cylinder — a
valve -controlled circuit at 8 MPa. The average consumed way to save primary energy in mobile machines . Fifth
hydraulic energy by the pump in a valve -controlled circuit International Conference on Fluid Power Transmission
performing the same task as in FIG . 19 is 1081. 8 W . Thus the and Control, Hangzhou, China , 2001.
inventive FIG . 8 circuit consumed only 8 . 9 % of energy [0168] 12 . Wang , L .; Book , W . J.; Huggins, J. D . A
needed by a comparable valve -controlled circuit to deliver hydraulic circuit for single rod cylinder. Journal of
the same amount of hydraulic energy to the actuator, and at Dynamic Systems, Measurement, and Control, ASME
the same time produces a performance better than at least the 2012 , 134 ( 1 ) , 011019 -011 - 16 .
prior art of FIG . 1 . [0169 ] 13 . Calishan , H .; Balkan , T.; Platin , E . B . A Com
[0155 ] Since various modifications can be made in the plete Analysis and a Novel Solution for Instability in
invention as herein above described , and many apparently Pump Controlled Asymmetric Actuators . Journal of
widely different embodiments of same made within the Dynamic Systems, Measurement, and Control 2015 , 137
scope of the claims without departure from such scope , it is ( 1 ), 091008 - 091- 14 .
intended that all matter contained in the accompanying [0170 ] 14 . Heybroek , K .; Palmberg, J.- O .; Lillemets, J.;
specification shall be interpreted as illustrative only and not Lugnberg , M .; Ousback , M . Evaluating a Pump Con
in a limiting sense . trolled Open Circuit Solution . 51st National Conference
on Fluid Power, Las Vegas , Nev., USA , 2008 .
REFERENCES [0171 ] 15 . Altare, G .; Vacca, A . Design solution for effi
cient and compact electro -hydraulic Actuators. Dynamics
[0156 ] Each of the cited documents below is incorporated and Vibroacoustics of Machines (DVM2014 ), Samara ,
herein by reference in its entirety . Russia , 2014 .
[ 0157 ] 1 . Cleasby , K . G .; Plummer, A . R . A novel high [0172 ] 16 . Ivantysynova , M . Displacement controlled
efficiency electrohydrostatic flight simulator motion sys actuator technology - Future for fluid power in aircraft
US 2018/0266447 A1 Sep . 20 , 2018
15

and other applications. 3rd International Fluid Power fluid lines to compensate for differential flow on oppos
Conference , Aachen , Germeny, 2002. ing sides of the differential hydraulic actuator;
[ 0173] 17 . Hippalgaonkar, R .; Ivantysynova , M . A Series a first charging line connecting the charging circuit to the
Parallel Hydraulic Hybrid Mini-Excavator with Displace first main fluid line ;
ment Controlled Actuators . The 13th Scandinavian Inter a second charging line connecting the charging circuit to
national Conference on Fluid Power, SICFP2013 , the second main fluid line;
Linköping, Sweden , 2013 . a set of one or more valves comprising at least one
[0174 ] 18 . Grabbel, J.; Ivantysynova , M . Model adapta charging -control valve operably installed in the first
tion for robust control design of hydraulic joint servo and/ or second charging lines and operable to switch
actuators. 4th International Symposium on Fluid Power between at least a first charging fluid supply /release
Transmission and Control (ICFP 2003 ), pp. 16 - 24 , state enabling flow through the first circuit -charging
Wuhan , China , 2003. line between the first main fluid line and the charging
[0175 ] 19 . Williamson, C .; Ivantysynova , M . Stability and circuit, and a second charging fluid supply/ release state
motion control of inertial loads with displacement con enabling flow through the second circuit -charging line
trolled hydraulic actuators . 6th FPNI-PhD Symposium , between the second main fluid line and the charging
499 -514 , West Lafayette , USA , 2010 . circuit , thereby enabling supply and release of the
0176 ] 20 . Williamson , C .; Ivantysynova , M . Pump Mode charging fluid to and from the first and second main
Prediction for Fourquadrant Velocity Control of Valveless fluid lines, whereby the reversible hydraulic pump
Hydraulic Actuators . 7th JFPS International Symposium cooperates with the differential hydraulic cylinder via
on Fluid Power, Toyama, Japan , 2008 ; pp 323 -328 . the main charging lines, the charging lines and the
(0177 ] 21 . Williamson, C . Power Management for Multi charging system to operate to provide a four quadrant
Actuator Mobile Machines with Displacement Controlled mode operation including a first load - resistive actuator
Hydraulic; PhD Thesis, University of Purdue: West lafay extension quadrant, a second load - assistive actuator
ette , Ind ., USA , 2010 . extension quadrant, a third load - resistive actuator- re
[0178 ] 22 . Zimmerman , J. D . Toward Optimal Multi traction quadrant and a fourth load -assistive actuator
actuator Displacement Controlled Mobile Hydraulic Sys retraction quadrant
tems; Purdue University : West Lafayette, Ind ., United wherein the set of one or more valves includes at least one
States , 2012 . pilot-operated critical zone shifting valve configured to
[0179 ] 23 . Sauer-Danfoss Technical Team . Series 42 Axial shift a critical loading zone in the fourth load -assisted
Piston Pumps Technical Information : Sauer-Danfoss actuator -extension quadrant of the four quadrant opera
Corp .: Ames , USA . tion to a lower loading range , whereby vibration ampli
[0180 ] 24 . Jalayeri, E .; Imam , A .; Zeljko , T .; Sepehri, N . tude in the critical loading zone is reduced due to lower
A throttle - less single - rod hydraulic cylinder positioning loading values in the lower loading range of the shifted
system : Design and experimental evaluation . Advances in critical loading zone.
Mechanical Engineering 2015 , 7 (5 ), 1-14 . 2 . A pump-controlled hydraulic circuit for operating a
[0181] 25 . Michel, S .; Weber, J. Energy efficient electro differential hydraulic actuator, said circuit comprising :
hydraulic compact drives for low power applications. a reversible hydraulic pump ;
ASME/BATH Symposium on Fluid Power and Motion a first main fluid line connecting a first side of the
Control, 93 - 107, 2012 . reversible hydraulic pump to an extension side of the
[0182 ] 26 . MathWorks . http ://www .mathworks. com /help / differential hydraulic actuator;
physmod /hydro / ref/cylinderfriction .html (accessed Jul. a second main fluid line connecting a second side of the
25 , 2016 ). reversible hydraulic pump to a retraction side of the
[0183 ] 27 . Zhang, J.; Chen , S . Modelling and study of differential hydraulic actuator;
active vibration control for off road vehicle . Vehicle a hydraulic charging system for supplying /releasing
System Dynamics 2013 , 52 (5 ), 581 -607. charging fluid to the first and second main fluid lines to
[0184 ] 28 . Eaton http ://www .eaton .com /ecm / groups/pub compensate for differential flow on opposing sides of
lic / @ pub / @ eaton/ ©hyd /documents /content/pct_ 273380 . the differential hydraulic actuator ;
pdf (accessed Jun . 1, 2016 ). a first charging line connecting the charging circuit to the
[0185 ] 29. Altare , G .; Vacca, A .; Richter, C . A NovelPump first main fluid line;
Design for an Efficient and Compact Electra -Hydraulic a second charging line connecting the charging circuit to
Actuator. IEEE Aerospace Conference, Samara , Russia , the second main fluid line;
2014 . a set of one or more valves comprising at least one
1 . A pump -controlled hydraulic circuit for operating a charging -control valve operably installed in the first
differential hydraulic actuator, said circuit comprising : and second charging lines and operable to switch
between at least a first charging fluid supply /release
a reversible hydraulic pump; state enabling flow through the first circuit-charging
a first main fluid line connecting a first side of the line between the first main fluid line and the charging
reversible hydraulic pump to an extension side of the circuit , and a second charging fluid supply /release state
differential hydraulic actuator ; enabling flow through the second circuit- charging line
a second main fluid line connecting a second side of the between the second main fluid line and the charging
reversible hydraulic pump to a retraction side of the circuit , thereby enabling supply and release of the
differential hydraulic actuator; charging fluid to and from the first and second main
a hydraulic charging system for supplying/releasing fluid lines , whereby the reversible hydraulic pump
charging fluid to and from the first and second main cooperates with the differential hydraulic cylinder via
US 2018/0266447 A1 Sep . 20 , 2018
16

the main charging lines, the charging lines and the throttle fluid passing therethrough during low loading con
charging system to operate to provide a four quadrant ditions of the differential hydraulic actuator , and to freely
mode operation including a first load -resistive actuator pass fluid therethrough in an unthrottled manner during
extension quadrant, a second load -assistive actuator higher loading conditions of the differential hydraulic actua
extension quadrant, a third load - resistive actuator - re tor.
traction quadrant and a fourth load -assistive actuator 10 . The hydraulic circuit of claim 1 wherein the at least
retraction quadrant one charging -control valve comprises a charging -control
wherein the set of one ormore valves includes at least one valve having first and second piston areas for driving of said
pilot -operated vibration - damping valve configured to charging - control valve in opposing directions using fluid
throttle flow in the hydraulic circuit in a critical loading from opposing ones of said main fluid lines and resisted by
zone of the four- quadrant mode of operation , while first and second springs , and wherein said first and second
allowing unthrottled flow in the hydraulic circuit out piston areas differ from one another in size , and/or said first
side the critical loading zone. and second springs have different spring constants .
3. The hydraulic circuit of claim 1 wherein the at least one 11 . The hydraulic circuit of claim 1 wherein the at least
charging-control valve has a first valve -actuating input oper one charging -control valve comprises a shuttle valve having
able to place the at least one valve charging -control in the a center position closing both the first and second charging
first charging fluid supply /release state and connected to one lines, a first shifted position opening the first charging line
of the main fluid lines for pressure -based operation of said to the charging system and closing the second charging line
valve- controlling first input by fluid from said one of the from the charging system to define the first charging fluid
main lines, and a second valve -actuating input operable to supply /release state , a second shifted position opening the
put the at least one charging- control valve in the second second charging line to the charging system and closing the
charging fluid supply /release state and connected to the first charging line from the charging system to define the
other of the main fluid lines for pressure -based operation of second charging fluid supply /release state , first and second
said valve - controlling second input by fluid from said other piston areas arranged to shift the valve into the first and
of the main fluid lines , said first and second valve - control second shifted positions respectively when acted upon by
ling inputs each being unique from one another in at least sufficient fluid pressure , and first and second springs respec
one characteristic . tively resisting movement into the first and second shifted
4 . The hydraulic circuit of claim 3 wherein the first and positions, wherein the piston areas differ from one another
second valve -actuating inputs are characterized from one in size and / or the springs differ from one another in stiffness .
another by at least one of a pilot -input piston area used to 12 . The hydraulic circuit of claim 1 wherein the at least
drive movement of the at least one charging- control valve one charging- control valve comprises a shuttle valve having
into the respective charging fluid supply /release state , a a center position presenting closure or throttling points
spring stiffness used to resist movement of the valve into the between the first and second charging lines and two differ
respective charging fluid supply /release state , and a charging ently pressured outlets of the charging system , a first shifted
pressure connected to the respective one of the main fluid position opening the first charging line to the charging
lines by operation of the input. system and closing the second charging line from the
5 . The hydraulic circuit of claim 1 wherein the charging charging system to define the first charging fluid supply !
system has two different outlets respectively providing release state, and a second shifted position opening the
higher and lower pressure supplies of charging fluid and the second charging line to the charging system and closing the
first and second charging lines are connected to the two first charging line from the charging system to define the
different outlets of the charging system . second charging fluid supply /release state .
6 . The hydraulic circuit of claim 5 wherein a higher 13 . The hydraulic circuit of claim 1 wherein the at least
pressure one of said two different outlets of the charging one charging - control valve comprises a shuttle valve having
system is connected to the second circuit -charging line to a center position closing or throttling both the first and
connect the higher pressure supply of charging fluid to the second charging lines , a first shifted position opening the
second main fluid line in the second charging fluid supply / first charging line to the charging system and closing the
release state of the at least one valve . second charging line from the charging system to define the
7. The hydraulic circuit of claim 5 comprising a pressure first charging fluid supply /release state , a second shifted
reducer connected between the charging pump and the first position opening the second charging line to the charging
fluid charging line to define a lower pressure one of said two system and closing the first charging line from the charging
different outputs of the charging system , the first charging system to define the second charging fluid supply /release
line being connected to said lower pressure one of said two state , first and second piston areas arranged to shift the valve
different outputs to connect the lower pressure supply of into the first and second shifted positions respectively when
charging fluid to the first main fluid line in the first charging acted upon by sufficient fluid pressure, and first and second
fluid supply/release state of the at least one valve . springs respectively resisting movement into the first and
8 . The hydraulic circuit of claim 1 wherein the at least one second shifted positions, wherein the piston areas differ from
charging - control valve comprises first and second pilot one another in size and /or the springs differ from one another
operated charging -control valves respectively installed in in stiffness .
the first and second charging lines, with a pilot of the first 14 . The hydraulic circuit of claim 1 wherein the set of one
pilot -operated charging - control valve connected to the sec or more valves comprises one or more pilot- operated vibra
ond main fluid line and a pilot of the second pilot- operated tion - damping valves installed in one or both of the main
charging- control valve connected to the first main fluid line. lines and configured to throttle fluid passing therethrough
9 . The hydraulic circuit of claim 8 wherein at least one of during low loading conditions of the differential hydraulic
the pilot-operated charging -control valves is configured to actuator, and to freely pass fluid therethrough in an
US 2018/0266447 A1 Sep . 20 , 2018
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unthrottled manner during higher loading conditions of the assistive actuator -retraction quadrant; first and second main
differential hydraulic actuator. fluid lines respectively connecting first and second sides of
15 . The hydraulic circuit of claim 14 wherein the one or the reversible hydraulic pump to extension and retraction
more vibration - damping valves comprise one or more vari sides of the differential hydraulic actuator; a hydraulic
able flow area valves each having a variable and controllable charging system for supplying/ releasing charging fluid to the
flow area , and arranged to maintain a smaller flow area first and second main fluid lines to compensate for differ
during the low loading conditions before enlarging the flow ential flow on opposing sides of the differential hydraulic
area for the higher loading conditions. actuator; first and second charging lines respectively con
16 . The hydraulic circuit of claim 14 wherein the one or necting the charging circuit to the first and second main fluid
more vibration -damping valves comprise first and second lines; and at least one valve operably installed in the first and
pilot-operated counterbalance valves respectively installed second charging lines and operable to switch between at
in the first and second main fluid lines , with a pilot of the least a first charging fluid supply / release state enabling flow
first pilot -operated counterbalance valve connected to the through the first circuit-charging line between the first main
second main fluid line and a pilot of the second pilot fluid line and the charging circuit and a second charging
operated counterbalance valve connected to the first main fluid supply /release state enabling flow through the second
fluid line. circuit-charging line between the second main fluid line and
17 . A method of controlling operation of a differential the charging circuit ; said method comprising shifting a
hydraulic actuator via a hydraulic circuit comprising a critical loading zone in the fourth load -assisted actuator
reversible hydraulic pump cooperating with a differential extension quadrant of the four quadrant operation to a lower
hydraulic cylinder to provide a four quadrant mode opera loading range, whereby vibration amplitude in the critical
tion including a first load -resistive actuator-extension quad loading zone is reduced due to lower loading values in the
rant, a second load - assistive actuator -extension quadrant, a lower loading range of the shifted critical loading zone .
third load -resistive actuator-retraction quadrant and a fourth 19 . A 4 -way 3 -position shuttle valve comprising :
load -assistive actuator - retraction quadrant; first and second first, second , third and fourth flow connection ports;
main fluid lines respectively connecting first and second first and second pilot inputs operable to change the valve
sides of the reversible hydraulic pump to extension and into different respective first and second operating
retraction sides of the differential hydraulic actuator ; a conditions out of a normal default position ;
hydraulic charging system for supplying/ releasing charging wherein the valve is configured for restricted flow there
fluid to the first and second main fluid lines to compensate through via the first and third ports and via the second
for differential flow on opposing sides of the differential and fourth ports in the normal default position to enable
hydraulic actuator; first and second charging lines respec leakage flow from the first connection port to the third
tively connecting the charging circuit to the first and second connection port and leakage flow from the second
main fluid lines; and at least one valve operably installed in connection port to the fourth connection port , config
the first and second charging lines and operable to switch ured for unrestricted free - flow through the valve via the
between at least a first charging fluid supply /release state second and fourth connection ports in the first operating
enabling flow through the first circuit -charging line between condition while preventing flow through the first and
the first main fluid line and the charging circuit and a second third connection ports, and configured for unrestricted
charging fluid supply /release state enabling flow through the free -flow through the valve via the first and third
second circuit - charging line between the second main fluid connection ports in the second operating condition
line and the charging circuit ; said method comprising run while preventing flow through the second and fourth
ning the hydraulic circuit in a throttled mode in a critical connection ports .
loading zone of the four -quadrant mode of operation , and 20. A 2 -way select-throttling valve comprising :
running the hydraulic circuit in an unthrottled mode outside first and second flow connection ports ;
the critical loading zone , whereby the throttled mode pro first and second pilot inputs operable to change the valve
vides vibration dampening in the critical loading zone , while into different respective first and second operating
throttling energy losses are avoided outside the shifted conditions out of a normal default closed position ;
critical loading zone, wherein the valve is configured such that an open flow
18 . A method of controlling operation of a differential path through at least one of the first and second flow
hydraulic actuator via a hydraulic circuit comprising a connection ports increases at a first rate as the valve
reversible hydraulic pump cooperating with a differential initially exits the closed condition and transitions
hydraulic cylinder to provide a four quadrant operation toward either of the operating condition , and then
including a first load - resistive actuator - extension quadrant, a increases at a greater second rate as the valve
second load -assistive actuator- extension quadrant , a third approaches said either of the operating conditions .
load- resistive actuator-retraction quadrant and a fourth load * * * * *