EP2047118B1 - Verfahren zur fehlereingrenzung und diagnose an einer fluidischen anlage - Google Patents

Verfahren zur fehlereingrenzung und diagnose an einer fluidischen anlage Download PDF

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Publication number
EP2047118B1
EP2047118B1 EP07703456A EP07703456A EP2047118B1 EP 2047118 B1 EP2047118 B1 EP 2047118B1 EP 07703456 A EP07703456 A EP 07703456A EP 07703456 A EP07703456 A EP 07703456A EP 2047118 B1 EP2047118 B1 EP 2047118B1
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Prior art keywords
component
variance
chamber
components
case
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German (de)
English (en)
French (fr)
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EP2047118A1 (de
Inventor
Jan Bredau
Reinhard Keller
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Festo SE and Co KG
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Festo SE and Co KG
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/005—Fault detection or monitoring

Definitions

  • the invention relates to a method for defect limitation and diagnosis on a fluidic system according to the preamble of claim 1.
  • Such a method is known DE 10 2005 016 786 known.
  • the air consumption curve is evaluated for error localization.
  • the air consumption curve is evaluated for error localization.
  • the time of the deviation on the faulty subsystem (for example valve actuator unit) or the faulty component is concluded from the time of the deviation on the faulty subsystem (for example valve actuator unit) or the faulty component.
  • Such errors which can occur in fluidic systems, have their causes, for example, in the wear of the components, in improper mounting, loose fittings, porous hoses, process disturbances and the like, resulting in the movements of the fluidic drives outer, and other leaks of various kinds.
  • diagnostic errors due to the change of certain boundary conditions, such as pressure and temperature avoid this document mentions the possible correction of air consumption with pressure and temperature.
  • in large fluidic systems in which a plurality of subsystems are sometimes active simultaneously, can not be determined with the known method, which of these components is faulty.
  • An object of the present invention is thus to improve the method of the type mentioned so that even with simultaneously active components and subsystems, an error, in particular a leak, can be unambiguously associated with a particular component or a particular subsystem.
  • the leakage location can be delimited stepwise in an advantageous manner, so that the fault location can be determined in a simple manner even with a large number of simultaneously active components or subsystems.
  • This is all the more a special advantage, as a strictly sequential sequence in fluidic systems, especially in large fluidic systems, is relatively rare.
  • Another advantage is that only the Aktorstellsignale and a volume flow sensor for determining the leakage location are required, that is, limit switches to actuators are not mandatory.
  • the stored references are fluid consumption reference curves formed from integrated volume flow values or conductance reference curves formed from integrated conductivity values (Q / P), which are compared with corresponding measured-value curves.
  • a plurality of parameter-dependent or parameter-dependent compensated fluid consumption reference curves or conductance reference curves are stored in a selection matrix and can be selected or specified for the respective cycle, for example, by checking them successively for correlation with the respective work cycle.
  • the reference curves are expediently detected in a learning mode, in particular also during the later operation of the fluidic system.
  • a curve comparison with respect to possible temporal displacements is preferably carried out before the diagnosis of leakage, with a tolerance value exceeding time shift is switched to other stored reference curves for their verification or an error message and / or a stop of another leakage diagnosis is triggered.
  • differential values or a difference curve between the measured variable curve and the reference curve are formed for particularly advantageous evaluation.
  • This difference curve is expediently filtered in a frequency-dependent manner by means of an integrator, which in particular has a phase shift of -90 ° in order to filter out interference signals and interference peaks.
  • a filtered compensation curve is then formed by calculating the slope of the integral of the difference values or the difference curve, which then enables a particularly simple, purposeful evaluation.
  • FIG. 1 a pneumatic system is shown schematically, which could in principle also be another fluidic system, such as a hydraulic system, act.
  • the pneumatic system consists of five subsystems 10-14 or components, which may each be actuators, such as valves, cylinders, linear actuators and the like, as well as combinations of the same. These subsystems 10-14 are fed by a pressure source 15, wherein in a common supply line 16, a flow meter 17 for measuring the flow or the flow rate is arranged.
  • An electronic control device 18 is used to specify the process of the system and is electrically connected to the subsystems 10-14 via corresponding control lines.
  • the subsystems 10-14 receive control signals from the electronic control device 18 and send sensor signals back to them.
  • sensor signals are for example position signals, limit switch signals, pressure signals, temperature signals and the like, which are not absolutely necessary in the simplest case.
  • the flowmeter 17 is connected to an electronic diagnostic device 19, in addition to the signals of a temperature sensor 20 and a pressure sensor 21 for measuring the temperature T and the pressure P in the supply line 16, ie the temperature and the pressure of the fluid supplied. Furthermore, a fluid sensor 23 for detecting the kind the fluid used and a moisture and / or particle sensor 24 for detecting the moisture content and the particle content of the fluid connected to the diagnostic device 19. This has in addition access to the sequence program of the electronic control device 18. The diagnostic results are supplied to a display 22, these diagnostic results of course also stored, printed, visually and / or audibly displayed or a central office via lines or wirelessly can be transmitted.
  • the sensors 20, 21 and 23 and 24 may also be omitted in a simplest embodiment, although at least one temperature sensor 20 and one pressure sensor 21 may be expediently provided.
  • the diagnostic device 19 can also be integrated in the electronic control device 18, which may contain, for example, a microcontroller for carrying out the sequence program and optionally for diagnosis.
  • each group has its own flow meter 17 to independently diagnose the subregions of the system associated with the groups, as described in the prior art mentioned above.
  • the diagnosis can be made in the simplest case by comparing stored and selected fluid consumption reference curves be carried out with corresponding measured value curves, wherein the fluid consumption reference curves are formed from integrated or totalized volumetric flow values.
  • diagnostic control values where the diagnostic control value is a characteristic variable of a fluidic system or of a fluidic system that consists of a variety of subsystems.
  • the conductance characterizes the behavior of the entire system over a defined cycle.
  • Conductance reference curves are formed in the simplest case of integrated conductivity values Q / P, where Q is the respective volume flow value and P is the measured working pressure. These conductance reference curves are compared with corresponding measured value curves, ie with measured value curves formed from integrated conductance variables.
  • the Leitwertiere essentialn or Leitwertkurven and Leitwert-reference curves can be compensated and refined by other measurement parameters, for example by the measured operating temperature T, the moisture content and / or the particle content of the fluid, the type of fluid and of each time or event-dependent operating conditions.
  • Such operating states are, for example, the warm-up, the operation after a long standstill, the reclosure when retrofitting or the operation after predetermined time intervals, so for example after a one-hour or ten-hour or several hours of operation.
  • the following discussion of fault isolation and diagnosis is based on conductance, and fluid consumption values could be used accordingly.
  • Non-cyclic processes can be subdivided into subcycles, to which the diagnostic procedure is then applied.
  • Different operating conditions in a process can be considered by taking and storing a set of reference curves in a selection matrix. This also applies to the influence of different parameters.
  • the respective measured curve must now be synchronized with the selected or selected reference curve, that is, without leakage, the two curves are congruent, with leakage they run synchronously in time, but show deviations in the amplitude.
  • the two curves to be compared must therefore first be checked for correlation, that is, it must be checked whether temporal shifts have occurred, for example due to changes in processes within a cycle. If temporal shifts have been detected over a defined tolerance, the further evaluation of leaks is stopped and a message regarding changes in the times of subsystems is generated. A time error is detected when the value of the air consumption at the end of the cycle is within a tolerance range, but the cycle time is different, as in FIG. 2 is shown.
  • the two curves run synchronously until the time ta, and from this point on a time difference ⁇ t occurs between the curve Km and the reference curve Kref, which remains constant until the end of the cycle at the point in time tb. If a time error increases more and more as the cycle progresses, an attempt can be made to correlate by choosing another reference curve. Only when all stored reference curves have been checked and no correlation could be achieved, is there a faulty time shift, and a subsequent leak diagnosis is omitted. A corresponding message can then be displayed, saved or forwarded.
  • the formed difference curve which in FIG. 3 , shown below, defines at each instant the summed distance of the measured quantity curve from the reference curve.
  • the time points of leaks show the staircase increases in the difference. In the following evaluations, these increases in the difference are assigned to the leak-causing subsystems or components or actuator chambers.
  • the calculated difference or difference curve can be filtered.
  • the change in the phase position and the amplitude is frequency-dependent.
  • an integrator is used, which has a fixed phase shift of -90 °. Thus, no different phase shift is to be considered in the later evaluation of the signals.
  • the amplitude response can be adjusted by changing the sampling time so that there is a constant attenuation of the amplitude in the desired frequency range, while other frequencies are filtered.
  • a compensation function of the integral of the calculated difference is subsequently formed.
  • the choice of the corresponding compensation function can be made according to the Gaussian least squares principle. It must be determined which curve best suits the calculated measurement points of the difference.
  • a compensation straight line is selected as the simplest possibility of a compensation function. Of course, other compensation functions are possible. Any occurring leakage leads to a change in the slope and the center distance of the regression line to the abscissa.
  • determining the slope from the integral of the difference a representation is obtained which corresponds to that in FIG. 3 shown difference curve, but is phase-shifted by minus 90 °.
  • the center distance from the integral of the difference there is also a representation that corresponds to the in FIG.
  • leakage would occur only at time t0, to which chamber A of subsystem 10, chamber B of subsystem 11, and chamber A of subsystem 12 are vented, and subsequently at a later time Chamber B of subsystem 11 and chamber A of subsystem 12 vented while chamber A of subsystem 10 is not involved, and then leakage does not occur, then chamber B of subsystem 11 and chamber A of subsystem 12 may be causative Components are excluded, and it can then finally the chamber A of the subsystem 10 are recognized as causing leakage.
  • a particularly suitable type of evaluation in particular in the case of a very large number of subsystems or components, is that each chamber of an actuator, that is, for example, two chambers in a working cylinder, are each assigned two counters. Furthermore, each chamber is assigned a timer. The timer is used to exclude additional actuator chambers or components from the consideration of a leak. If a chamber or a component is under pressure and no leakage occurs within a preselected time value of the timer, then this chamber is also treated as not involved in the leakage and excluded for further leak detection.
  • the electrical components, ie counters and timers are located, for example, in the diagnostic device 19.
  • the timers When starting an operating cycle, the timers are now started, and when a leak occurs, they are each reset to the value zero and there until the end kept the leakage. Now, if the chamber in question during the reset state of the timer or at least during a part of the reset state under pressure, this chamber comes as responsible for the leakage into consideration, and it is checked whether the slope and the center distance of the straight line or other Compensation function has increased by a predeterminable value or by a predefinable percentage (based, for example, on the respective maximum value of or one of the preceding cycles). In this case, the counter responsible for the grade and / or the counter associated with the offset will be incremented by the value 1.
  • the associated counters are incremented by a further counter value, depending on the increase in the slope and / or the center distance.
  • the counts of both counters of a chamber or component are added together at the end of the cycle.
  • the chamber with the highest total count at the end of an operating cycle is most likely to be responsible for the leakage.
  • the chamber or component with the second highest total count is involved in the leakage with the second highest probability. This is important if several leaks occur in the system.
  • a single timer may be provided for all chambers or components, each reset to zero during the occurrence of a leak and held there during the occurrence of the leakage. During this period, it is then checked which chambers or which components are active, that is to say are pressurized.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Examining Or Testing Airtightness (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
EP07703456A 2007-02-14 2007-02-14 Verfahren zur fehlereingrenzung und diagnose an einer fluidischen anlage Active EP2047118B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2007/001269 WO2008098589A1 (de) 2007-02-14 2007-02-14 Verfahren zur fehlereingrenzung und diagnose an einer fluidischen anlage

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EP2047118A1 EP2047118A1 (de) 2009-04-15
EP2047118B1 true EP2047118B1 (de) 2011-10-19

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US (1) US7917325B2 (ko)
EP (1) EP2047118B1 (ko)
KR (1) KR20100014067A (ko)
CN (1) CN101427033A (ko)
AT (1) ATE529643T1 (ko)
TW (1) TW200846275A (ko)
WO (1) WO2008098589A1 (ko)

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Publication number Priority date Publication date Assignee Title
DE102011012558B3 (de) * 2011-02-26 2012-07-12 Festo Ag & Co. Kg Druckluft-Wartungsgerät und damit ausgestattete Verbrauchersteuervorrichtung
CN102606559B (zh) * 2012-02-22 2016-01-20 安徽金达利液压有限公司 液压故障检测仪
CA2942284A1 (en) * 2014-03-11 2015-09-17 British Gas Trading Limited Determination of a state of operation of a domestic appliance
DE102014016820A1 (de) * 2014-11-14 2016-05-19 Abb Technology Ag Verfahren zum Betrieb eines Durchflussmessers
FI128394B (en) * 2014-12-09 2020-04-30 Hydroline Oy Monitoring device and method for determining the condition of a pressure medium device
EP3243608B1 (de) * 2016-05-09 2022-04-06 J. Schmalz GmbH Verfahren zur überwachung von funktionszuständen eines druckangetriebenen aktors und druckantreibbarer aktor
DE102017221723A1 (de) 2017-12-01 2019-06-06 Continental Teves Ag & Co. Ohg Verfahren zum Betreiben einer Bremsanlage für Kraftfahrzeuge sowie Bremsanlage
EP3699498A1 (en) * 2019-02-21 2020-08-26 E.ON Sverige AB A method and an apparatus for determining a deviation in a thermal energy circuit

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JP3870814B2 (ja) * 2002-03-29 2007-01-24 株式会社デンソー 圧縮エア監視システム
DE502004005786D1 (de) * 2003-07-28 2008-02-07 Wabco Gmbh Verfahren und vorrichtung zum erkennen eines defektes oder ausfalls eines druckluftverbraucherkreises in einer elektronischen druckluftanlage für fahrzeuge
US7031850B2 (en) * 2004-04-16 2006-04-18 Festo Ag & Co. Kg Method and apparatus for diagnosing leakage in a fluid power system
WO2005111433A1 (de) * 2004-04-16 2005-11-24 Festo Ag & Co Verfahren zur fehlereingrenzung und diagnose an einer fluidischen anlage
WO2005111453A1 (ja) 2004-05-13 2005-11-24 Hitachi, Ltd. 自動変速機のクラッチアクチュエータ

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CN101427033A (zh) 2009-05-06
US20100153026A1 (en) 2010-06-17
ATE529643T1 (de) 2011-11-15
WO2008098589A1 (de) 2008-08-21
KR20100014067A (ko) 2010-02-10
EP2047118A1 (de) 2009-04-15
US7917325B2 (en) 2011-03-29

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