EP2644904B1 - Method for controlling a work system that can be operated using fluid - Google Patents
Method for controlling a work system that can be operated using fluid Download PDFInfo
- Publication number
- EP2644904B1 EP2644904B1 EP20120002099 EP12002099A EP2644904B1 EP 2644904 B1 EP2644904 B1 EP 2644904B1 EP 20120002099 EP20120002099 EP 20120002099 EP 12002099 A EP12002099 A EP 12002099A EP 2644904 B1 EP2644904 B1 EP 2644904B1
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- EP
- European Patent Office
- Prior art keywords
- working chamber
- fluid
- volume
- actuator member
- valve device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Images
Classifications
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/046—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member
- F15B11/048—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member with deceleration control
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/06—Servomotor systems without provision for follow-up action; Circuits therefor involving features specific to the use of a compressible medium, e.g. air, steam
- F15B11/064—Servomotor systems without provision for follow-up action; Circuits therefor involving features specific to the use of a compressible medium, e.g. air, steam with devices for saving the compressible medium
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
- F15B2211/3057—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having two valves, one for each port of a double-acting output member
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
- F15B2211/30575—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve in a Wheatstone Bridge arrangement (also half bridges)
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/85—Control during special operating conditions
- F15B2211/853—Control during special operating conditions during stopping
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/885—Control specific to the type of fluid, e.g. specific to magnetorheological fluid
- F15B2211/8855—Compressible fluids, e.g. specific to pneumatics
Definitions
- the invention relates to a method for controlling a fluid operable operating system having an actuator with an actuator housing and a movably received in the actuator housing actuator member, the actuator housing and the Aktorglied determine a first and at least one second working chamber, which are each pressurizable separately and the Provision of oppositely acting actor forces are formed on the actuator member, and having a valve device which is designed for separate control of the two working chambers, and a control device for controlling the valve device.
- the positioner supplies first and second pneumatic control signals to the first and second working chambers, respectively, and has at least one device for setting the first pneumatic control signal for the first working chamber, wherein the device is designed such that the setting of the first control signal regulates the second pneumatic control signal leaves unaffected. This can be achieved deviating from a customary in the field of pneumatics coupled fluid loading of the two working chambers separate fluid loading of the two working chambers.
- valve module for fluid supply fluidic consumers, having a plurality of valve modules, known.
- the valve modules each comprise a channel body and four 2/2-way valves, which are interconnected in a full bridge arrangement and which are each switchable between a blocking position and a release position.
- a control device for individually controlling the 2/2-way valves of the valve modules is provided.
- the first working channel and the second working channel are communicatively connected to each other by a connecting channel and the valve module is assigned by the control device individually between a blocking position and a release position switchable valve means for influencing a free cross section of the connecting channel to the communicating connection between the first and the second working channel temporarily release.
- the US 6,705,199 B2 discloses a precision control system for a pneumatically operable actuator associated with a braking device and a sensor system.
- the precision control system provides drive fluid for movement of a working piston to a first working space of the actuator to cause movement of the working piston.
- the precision control system activates the braking device as soon as the working piston passes a predefinable braking point.
- an opposite pressurization by providing fluid to a second working space of the actuator is made to a possible to ensure precise positioning of the working piston in the desired target position.
- the WO 2006/122339 A1 discloses a method for controlling a fluidically actuated drive with relatively adjustable components, of which a component via at least one switching element in a first direction of movement and in a first direction of movement opposite, second direction of movement between end positions and is braked against at least one of the end positions, wherein a Control means are each supplied by a switchable via a switching flag and arranged in the end position sensor control signals for the timing of the movement phase of the component for smooth start of the end position and the control device, the switching element is actuated by means of the control signals.
- pressure chambers of the drive are actuated in opposite directions, wherein in a first movement phase of the component shortly before reaching the end position to be approached via the switching flag sensor arrangement at a time a first measurement signal and at a later time a second measurement signal is detected and then by the control device at least a period determined from the time difference between the measurement signals and at least one manipulated variable from a control unit of the control device for gently starting the end position from a desired-actual comparison between a specified period of time and the determined time span is calculated for at least one of two temporally successive switching times of the switching element and that this switching time of the switching element is set according to the manipulated variable in the following movement phase of the first movement phase of the component in the same direction of movement.
- the object of the invention is to provide a method for controlling a fluidly operable working system, in which a significant improvement in energy efficiency over the prior art can be achieved.
- the control device prescribes the following steps: activating the valve device for providing a first predeterminable volume of a pressurized fluid to the first working chamber in order to accelerate the actuator element from a starting position to a predefinable target speed, the predeterminable volume being dimensioned in this way is that on the pressurized fluid in the first working chamber provided amount of energy as accurately as possible to accelerate the Aktorglieds to the required target speed, driving the valve means to close the first working chamber, driving the valve means to an outflow of a second predetermined volume of a Allow fluid contained in the second working chamber from the second working chamber, so that a deceleration of the actuator member is ensured to a predetermined target position along the actuator housing.
- a significant improvement of the energy utilization is effected by the fact that the first working chamber, which is responsible for providing the driving force for the actuator member and one coupled to the actuator member Load is applied, is applied with a predetermined volume of a pressurized fluid, the predeterminable volume is dimensioned such that the provided via the pressurized fluid in the first working chamber amount of energy as exactly as possible to accelerate the Aktorglieds to the required target speed.
- the target speed for the actuator member and the coupled load is in turn such that due to the inertia of the actuator member and load and thus stored in the Aktorglied and the coupled momentum kinetic movement of these components oppositely directed motion resistance, in particular frictional resistance, in particular within a predefinable Movement period to be overcome until reaching the target position.
- the target velocity is sized that the actuator member reaches the target position reliably and that when reaching the target position only a small, especially a vanishing, kinetic energy is stored in Aktorglied and the coupled load and that a specifiable, low pressure level, in particular well below the provided at the valve device supply pressure pressure level , is achieved.
- the objective of the method according to the invention which is to improve the energy efficiency when operating a fluidly operable work system, is thus essentially achieved by selecting the amount of energy fed into the work system via the pressurized fluid such that an active braking of the actuator member upon reaching it the target position, as it is known from the prior art under the term of the end position damping, at least largely unnecessary.
- a significant portion of the provided via the pressurized fluid energy must be converted into heat that can not be used to ensure an accurate target achievement.
- the actuation of the valve device in order to allow a second predeterminable volume of a fluid contained in the second working chamber to flow out of the second working chamber preferably takes place at a point in time at which the actuator element has already reached its target speed or the movement speed of the actuator element is already below the target speed is. It is assumed that the second working chamber is at least temporarily closed prior to the corresponding actuation of the valve device and thus no fluid can flow out of the second working chamber at least within a predefinable period of time prior to the time of actuation of the valve device.
- the trapped in the second working chamber fluid with increasing approach of the Aktorglieds to the target position compressed due to a reduction in the volume of the second working chamber and thus serves as an elastic fluid buffer for the movement of the Aktorglieds.
- the time for the control of the valve device for releasing the second working chamber is selected such that on the one hand the at least temporarily trapped fluid can flow without further switching operation of the valve device and on the other hand, the desired deceleration of the actuator member is guaranteed until reaching the target position.
- This point in time for the actuation of the valve device can also be made dependent on whether the second working chamber was already closed during the acceleration of the actuator member or whether the second working chamber was closed at a later time.
- the valve device is activated during and / or after the deceleration of the actuator member such that the second working chamber is depressurized in the target position. This ensures that the fluid pressure which is stored in the first working chamber when the target position is reached is completely available for the application of a static holding force by the actuator member to the coupled load.
- the second working chamber remains in communicating connection with the environment and the prevailing fluid pressure upon reaching the target position or that the valve device is controlled in such a way that the second working chamber is fluidically separated from the environment.
- the second working chamber for enhancing the holding force, which is exerted by the first working chamber on the actuator member, used as a displacement resistance for the Aktorglied upon introduction of external forces to the coupled load due to the trapped fluid volume in the second working chamber is increased.
- the first predeterminable volume of the pressurized fluid which is provided to the first working chamber, is dimensioned such that a predetermined, in particular below a supply pressure for the valve device settled in the working chamber upon reaching the target position Target pressure is present.
- the target pressure is preferably chosen such that external forces acting on the actuator member and the load coupled thereto after reaching the target position, at least not lead to a movement of the actuator member and the load, if these forces are within a predetermined interval.
- the external forces are outside the predetermined interval, either a movement of the Aktorglieds and the load can be tolerated depending on the application for the work system or it can be provided a supply of pressurized fluid in the first working chamber to a sufficiently large counterforce to that of applied externally applied forces.
- the target pressure for the first working chamber can be selected to be vanishing.
- the valve device is controlled such that the first working chamber upon reaching the target position a third predetermined volume of a pressurized fluid is supplied to increase the target pressure in the first working chamber at the end of the deceleration process or after completion of the deceleration process by a predetermined amount.
- the efficient use of the power provided to the work system is ensured by the requirement for a target pressure higher than the target pressure set by the first volume of the pressurized fluid needed to reach the target speed alone , is satisfied by the fact that the third volume is provided only at a time to the first working space to which no or at least no relevant acceleration path for the actuator member is more available.
- the supply of the third volume of the pressurized fluid into the first working chamber also no deceleration of the actuator member is required, which would otherwise have a negative impact on energy efficiency. Rather, the amount of energy introduced into the first working chamber by the third volume of the pressurized fluid is at least almost completely converted into the desired holding force, which is established by the increase in the target pressure.
- the control device controls the actuation of the valve device to provide the first predeterminable volume to the first working chamber and to allow the outflow of a second predeterminable volume from the second working chamber to be timed.
- the method can be carried out with a simply constructed control device.
- one or two end position sensors are associated with the actuator, which output on reaching the at least one or the at least two target positions along the path of movement of the Aktorglieds a corresponding signal to the Steuerungseicardi, so this knowledge thereof has whether the timed control of the valve device has yielded the desired success in the form of reaching the respective target position by the actuator member.
- the actuator is assigned a pressure measuring device and / or at least one end position sensor and / or a displacement measuring device and that a control, in particular a control, of the valve device as a function of measured values, by the pressure measuring device and / or the at least one end position sensor and / or the path measuring device are provided to the control device takes place.
- a robust design of the work system can be achieved, which thus also under changing loads and / or other changing boundary conditions such. Temperature-dependent changes of friction between load and associated storage always ensures the achievement of the target position for the actuator member.
- the target position for the actuator member is selected such that a working volume of the second working chamber is minimal and that the first volume for the pressurized fluid and the second predetermined volume for the outflowing fluid are predetermined such that the actuator member reaches the target position with, in particular at least almost, vanishing movement speed.
- the maximum displacement of the actuator is advantageously utilized, on the other hand, the contribution to the reinforcement of the holding force in the target position by the fluid volume enclosed in the second working chamber is greatest when the working volume of the second working chamber is minimal.
- Achieving the target position by the actuator member with, at least almost, vanishing movement speed is advantageous, since this is an advantageous Utilization of the energy of the introduced into the first working chamber pressurized fluid is ensured because no energetically unfavorable deceleration of the actuator member and / or the load coupled thereto is required. Furthermore, this undesirable pulse discharges are avoided by the actuator member in the actuator housing and / or the load on a possibly provided end stop, which could lead to wear of the respective components.
- the speed of the actuator member is checked by the control device in order to provide an additional supply of pressurized fluid into the first working chamber or at deviations from the predefinable target speed To allow temporary limitation of the outflow of the second predetermined volume of the fluid contained in the second working chamber from the second working chamber.
- the outflow of the second predeterminable volume of the fluid contained in the second working chamber from the second working chamber takes place unthrottled.
- the throttling effect during the outflow of the fluid from the second working chamber is limited in an advantageous manner to the fluid friction which can not be completely eliminated in the valve device and in the fluid conductors, which may in particular be fluid hoses. In such, at least almost unthrottled outflow of the fluid thus occur no significant fluid friction losses, which would otherwise worsen the energy efficiency of the work system.
- This is advantageous in particular for the outflow of the fluid from the second working chamber when the actuator member approaches the target position, but may also be significant if an outflow of fluid from the second working chamber should be provided for the actuator member during the acceleration phase.
- control device controls the valve device for providing a first predeterminable volume of a pressurized fluid to the first working chamber and for discharging a second predeterminable volume of a fluid contained in the second working chamber from the second working chamber, in that an averaged pressure from pressure values of the two working chambers at the beginning and end of a movement of the actuator member is at a pressure level which is less than 30 percent, preferably less than 20 percent, in particular less than 10 percent, of a supply pressure applied to the valve device.
- the averaged pressure from pressure values of the two working chambers which is also referred to as medium pressure, before providing the first volume of the pressurized fluid to the first working chamber and after reaching the target position by the actuator member is at the lowest possible pressure level.
- This pressure level is advantageously considerably less than half the supply pressure which is provided to the valve device.
- the average pressure increases by supplying a first volume of pressurized fluid in the first working chamber to a first maximum value and at the time of release of the compressed in the second working chamber by the movement of the Aktorglieds fluid occupies a second maximum value and between the first and the second maximum value temporarily reaches a pressure level which is less than 30 percent, preferably less than 20 percent, in particular less than 10 percent, of a voltage applied to the valve device supply pressure.
- the inventive method can be carried out for example with a work system.
- the work system for providing an actuating movement of an actuator comprises an actuator with an actuator housing and a Aktorgephaseuse movably received actuator member, the actuator housing and the Aktorglied determine a first and at least one second working chamber, which are each pressurizable separately and the Provision of opposing acting Actuator forces are formed on the actuator member.
- the operating system comprises a valve device, which is designed for the separate control of the two working chambers, and a control device for controlling the valve device. It is provided that the control device is designed for carrying out one of the methods according to one of claims 1 to 11.
- the valve device comprises at least one arrangement of four 2/2-way valves, each having a first and a second fluid port and a movable valve member for adjusting a free fluid channel cross section between the first and the second fluid port, wherein the four / 2-way valves are interconnected in a full bridge arrangement, in which the first fluid ports of the first and second 2/2-way valve are connectable to a fluid source, the second fluid port of the first 2/2-way valve and the first fluid port of the fourth 2 / 2-way valve are connected to the first working chamber, the second fluid port of the second 2/2-way valve and the first fluid port of the third 2/2-way valve are connected to the second working chamber and the second fluid ports of the third and the fourth 2/2 Directional valve are connected to a vent channel.
- each of the working chambers associated 3/3-way valves can be modeled, which are used for a separate control of the first and the second working chamber can.
- a connecting channel is formed, in which one of the control means individually switchable between a blocking position and a release position, in particular, a valve means configured as a 2/2-way valve for influencing a free cross section of the connection channel is arranged to temporarily release a communicating connection between the first and the second working chamber.
- the connecting channel can be released temporarily, in particular, if after the supply of the first volume of the pressurized fluid into the first working chamber it should turn out that the target speed for the actuator member and the load coupled thereto has been exceeded and thus a greater deceleration of the actuator member is required, which would otherwise have to be ensured by direct introduction of pressurized fluid into the second working chamber.
- An Indian FIG. 1 schematically illustrated work system 1 comprises an exemplary designed as a double-acting pneumatic cylinder actuator 2.
- the actuator 2 has an actuator housing 3, in which a recess is formed, in which a trained as a piston actuator member 4 is received linearly movable.
- the actuator member 4 is connected to a piston rod 5, which in turn is coupled to a load 6.
- the actuator housing 3 and the actuator member 4 define two fluidly separated working chambers 7, 8.
- the working chambers 7, 8 can each separately with the help of a valve device 9, the example of two 3/3-way valves 10, 11, with pressurized fluid from a Fluid source 12 are supplied.
- the working chamber 7, 8 can be locked by means of the 3/3-way valves 10, 11, so that no fluid flow from the respective working chamber 7, 8 or in the respective working chamber 7, 8 is possible.
- the 3/3-way valves 10, 11 are each connected in such a way that an outflow of fluid from the working chambers 7, 8 to an output, such as a vent outlet 14, is possible.
- a control device 15 is provided which can provide electrical power to the magnetic drives 16, 17 of the 3/3-way valves 10, 11 to move them between the different switching positions.
- control device 15 is electrically connected to two respective end-face sensors 18, 19 attached to the actuator housing 3, which provide an electrical signal to the control device 15 as soon as the actuator member 4 has arrived along a movement axis 20 in a target position monitored by respective end position sensor 18, 19.
- the work system 1 in which a time-controlled control of the valve device 9 is provided by the control device 15, in particular at constant boundary conditions, ie constant load 6, constant friction conditions for the actuator member 4 and the load 6 and constant demands on the holding force on the actuator member. 4 be operated in the target position. Further details on the possible operation of the work system 1 will become apparent from the following description of the Figures 3 and 4 ,
- valve means 59 comprises two 3/3-way proportional directional control valves 60, 61 and that the actuator housing. 3 in addition to the end position sensors 18, 19, a displacement measuring system 71 is assigned, with which each position of the actuator member 4 along the movement path 20 can be determined.
- control device 65 is designed for regulating the fluid supply and the outflow of fluid into the working chambers 7, 8 or from the working chambers 7, 8.
- the work system 51 is provided in the regulation of the valve device 59 by the control device 65, in particular at varying boundary conditions, ie varying load 6 and / or varying friction conditions for the actuator member 4 and the load 6 and / or changing demands on the holding force on the Actuator 4 are operated in the respective target position.
- the high acceleration of the actuator member 4 and the load 6, which underlies the speed increase, results from providing a first volume of pressurized fluid into the first working chamber 7, which can be seen from the pressure curve pa in the pressure diagram, which is plotted as an absolute pressure curve like all other pressure curves from the fact that in the second working chamber 8, whose pressure is represented by the pressure curve pb, there is only a low pressure level from the previous course of motion, so that the movement of the actuator 4 is only minimally inhibited.
- the mean pressure pm which results from the averaging of the respective pressure values from the two working chambers 7, 8, is at the beginning and end of the movement of the Aktorglieds 4 a fraction of the supply pressure applied to the valve means 9, 59, exemplarily less than 20 percent of the supply pressure according to the illustration of FIG. 4 ,
- From the associated force diagram according to the FIG. 3 can be taken from the power provided by the actuator 4 to the load 6.
- This first increases by the provision of the pressurized fluid in the first working chamber 7 to a maximum value, and then subsequently after completion of the fluid supply into the first working chamber 7 due the increasing increase in the volume of the first working chamber 7 and the thus decreasing pressure in the first working chamber 7 to fall back to zero.
- the resulting, contrary to the operation according to FIG. 3 deviating from zero holding force Fh on the actuator member 4 is the force diagram of FIG. 4 refer to.
- FIG. 5 shows a force curve for a work system, which is operated in a conventional manner.
- the force curve 30 according to the FIG. 3 the force curve 31 according to FIG.
- a valve device 40 is shown, which is basically designed as an arrangement four 2/2-way valves 41, 42, 43 44.
- Each of the 2/2-way valves 41, 42, 43 44 includes a first and a second fluid port and a not shown, movable valve member for adjusting a free fluid channel cross-section between the respective first and second fluid port.
- the four 2/2-way valves 41, 42, 43, 44 are interconnected in a full bridge arrangement in which the first fluid ports of the first and second 2/2-way valve 41, 42 are connectable to a fluid source 45, the second fluid port of first 2/2-way valve 41 and the first fluid port of the fourth 2/2-way valve 44 are connected to the first working chamber 7, the second fluid port of the second 2/2-way valve 42 and the first fluid port of the third 2/2-way valve 43rd are connected to the second working chamber 8 and the second fluid ports of the third and fourth 2/2-way valve 43, 44 are connected to a vent outlet 46.
- a valve device 40 fluid flows into the working chambers 7, 8 or from the working chamber 7, 8 can be influenced in a simple manner.
- a Connecting channel 47 is formed, in which one of the control device 48 individually switchable between a blocking position and a release position, exemplarily designed as 2/2-way valve 49 valve means for influencing a free cross section of the connecting channel 47 is arranged to communicate a communication between the first working chamber 7 and the second working chamber 8 temporarily release.
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Description
Die Erfindung betrifft ein Verfahren zur Ansteuerung eines fluidisch betreibbaren Arbeitssystems, das einen Aktor mit einem Aktorgehäuse und einem im Aktorgehäuse beweglich aufgenommenen Aktorglied aufweist, wobei das Aktorgehäuse und das Aktorglied eine erste und mindestens eine zweite Arbeitskammer bestimmen, die jeweils separat druckbeaufschlagbar sind und die zur Bereitstellung von einander entgegengesetzt wirkenden Aktorkräfte auf das Aktorglied ausgebildet sind, und das eine Ventileinrichtung, die zur separaten Ansteuerung der beiden Arbeitskammern ausgebildet ist, sowie eine Steuereinrichtung zur Ansteuerung der Ventileinrichtung aufweist.The invention relates to a method for controlling a fluid operable operating system having an actuator with an actuator housing and a movably received in the actuator housing actuator member, the actuator housing and the Aktorglied determine a first and at least one second working chamber, which are each pressurizable separately and the Provision of oppositely acting actor forces are formed on the actuator member, and having a valve device which is designed for separate control of the two working chambers, and a control device for controlling the valve device.
Aus der
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Die Aufgabe der Erfindung besteht darin, ein Verfahren zur Ansteuerung eines fluidisch betreibbaren Arbeitssystems bereitzustellen, bei dem eine signifikante Verbesserung der Energieeffizienz gegenüber dem Stand der Technik erreicht werden kann.The object of the invention is to provide a method for controlling a fluidly operable working system, in which a significant improvement in energy efficiency over the prior art can be achieved.
Diese Aufgabe wird gemäß einem ersten Aspekt der Erfindung für ein Verfahren der eingangs genannten Art mit den Merkmalen des Anspruchs 1 gelöst. Hierbei ist vorgesehen, dass die Steuereinrichtung die folgenden Schritte vorgibt: Ansteuern der Ventileinrichtung für eine Bereitstellung eines ersten vorgebbaren Volumens eines druckbeaufschlagten Fluids an die erste Arbeitskammer, um das Aktorglied ausgehend von einer Startposition auf eine vorgebbare Zielgeschwindigkeit zu beschleunigen, wobei das vorgebbare Volumen derart bemessen ist, dass eine über das druckbeaufschlagte Fluid in die erste Arbeitskammer bereitgestellte Energiemenge möglichst exakt zur Beschleunigung des Aktorglieds auf die geforderte Zielgeschwindigkeit ausreicht, Ansteuern der Ventileinrichtung, um die erste Arbeitskammer zu verschließen, Ansteuern der Ventileinrichtung, um ein Abströmen eines zweiten vorgebbaren Volumens eines in der zweiten Arbeitskammer enthaltenen Fluids aus der zweiten Arbeitskammer zu ermöglichen, so dass eine Abbremsung des Aktorglieds auf eine vorgebbare Zielposition längs des Aktorgehäuses gewährleistet ist. Bei dem erfindungsgemäßen Verfahren wird eine erhebliche Verbesserung der Energieausnutzung dadurch bewirkt, dass die erste Arbeitskammer, die für die Bereitstellung der Antriebskraft für das Aktorglied und eine mit dem Aktorglied gekoppelte Last eingesetzt wird, mit einem vorgebbaren Volumen eines druckbeaufschlagten Fluids beaufschlagt wird, wobei das vorgebbare Volumen derart bemessen ist, dass die über das druckbeaufschlagte Fluid in die erste Arbeitskammer bereitgestellte Energiemenge möglichst exakt zur Beschleunigung des Aktorglieds auf die geforderte Zielgeschwindigkeit ausreicht. Die Zielgeschwindigkeit für das Aktorglied und die damit gekoppelte Last ist ihrerseits so bemessen, dass aufgrund der Massenträgheit von Aktorglied und Last und der somit im Aktorglied und der gekoppelten Last gespeicherten Bewegungsenergie die der Bewegung dieser Komponenten entgegen gerichteten Bewegungswiderstände, insbesondere Reibungswiderstände, insbesondere innerhalb eines vorgebbaren Bewegungszeitraums, bis zum Erreichen der Zielposition überwunden werden. Vorzugsweise ist die Zielgeschwindigkeit so bemessen, dass das Aktorglied die Zielposition zuverlässig erreicht und dass bei Erreichen der Zielposition nur noch eine geringe, insbesondere eine verschwindende, Bewegungsenergie im Aktorglied und der gekoppelten Last gespeichert ist und dass ein vorgebbares, geringes Druckniveau, insbesondere deutlich unterhalb des an der Ventileinrichtung bereitgestellten Versorgungsdrucks liegendes Druckniveau, erreicht wird.This object is achieved according to a first aspect of the invention for a method of the type mentioned above with the features of
Die Zielsetzung des erfindungsgemäßen Verfahrens, die in der Verbesserung der Energieeffizienz beim Betreiben eines fluidisch betreibbaren Arbeitssystems liegt, wird also im Wesentlichen dadurch erreicht, dass die über das druckbeaufschlagte Fluid in das Arbeitssystem eingespeiste Energiemenge so gewählt wird, dass ein aktives Abbremsen des Aktorglieds bei Erreichen der Zielposition, wie es aus dem Stand der Technik unter dem Begriff der Endlagendämpfung bekannt ist, zumindest weitestgehend unnötig wird. Somit kann vermieden werden, dass bei der Abbremsung des Aktorglieds ein erheblicher Teil der über das druckbeaufschlagte Fluid bereitgestellten Energie in nicht weiter nutzbare Wärme umgewandelt werden muss, um eine exakte Zielerreichung zu gewährleisten.The objective of the method according to the invention, which is to improve the energy efficiency when operating a fluidly operable work system, is thus essentially achieved by selecting the amount of energy fed into the work system via the pressurized fluid such that an active braking of the actuator member upon reaching it the target position, as it is known from the prior art under the term of the end position damping, at least largely unnecessary. Thus, it can be avoided that during the deceleration of the Aktorglieds a significant portion of the provided via the pressurized fluid energy must be converted into heat that can not be used to ensure an accurate target achievement.
Die Ansteuerung der Ventileinrichtung, um ein Abströmen eines zweiten vorgebbaren Volumens eines in der zweiten Arbeitskammer enthaltenen Fluids aus der zweiten Arbeitskammer zu ermöglichen, erfolgt vorzugweise zu einem Zeitpunkt, zu dem das Aktorglied bereits seine Zielgeschwindigkeit erreicht hat bzw. die Bewegungsgeschwindigkeit des Aktorglieds bereits wieder unterhalb der Zielgeschwindigkeit liegt. Dabei wird davon ausgegangen, das die zweite Arbeitskammer vor der entsprechenden Ansteuerung der Ventileinrichtung zumindest zeitweilig verschlossen ist und somit zumindest innerhalb einer vorgebbaren Zeitspanne vor dem Zeitpunkt der Ansteuerung der Ventileinrichtung kein Fluid aus der zweiten Arbeitskammer ausströmen kann. Dadurch wird das in der zweiten Arbeitskammer eingeschlossene Fluid mit zunehmender Annäherung des Aktorglieds an die Zielposition, aufgrund einer Verkleinerung des Volumens der zweiten Arbeitskammer komprimiert und dient somit als elastischer Fluidpuffer für die Bewegung des Aktorglieds. Vorzugsweise ist der Zeitpunkt für die Ansteuerung der Ventileinrichtung zur Freigabe der in der zweiten Arbeitskammer derart gewählt, dass einerseits das zumindest zeitweilig eingeschlossene Fluid ohne weiteren Schaltvorgang der Ventileinrichtung abströmen kann und andererseits die gewünschte Abbremsung des Aktorglieds bis zum Erreichen der Zielposition gewährleistet ist. Dieser Zeitpunkt für die Ansteuerung der Ventileinrichtung kann auch davon abhängig gemacht werden, ob die zweite Arbeitskammer bereits während der Beschleunigung des Aktorglieds verschlossen war oder ob die zweite Arbeitskammer erst zu einem späteren Zeitpunkt verschlossen wurde.The actuation of the valve device in order to allow a second predeterminable volume of a fluid contained in the second working chamber to flow out of the second working chamber preferably takes place at a point in time at which the actuator element has already reached its target speed or the movement speed of the actuator element is already below the target speed is. It is assumed that the second working chamber is at least temporarily closed prior to the corresponding actuation of the valve device and thus no fluid can flow out of the second working chamber at least within a predefinable period of time prior to the time of actuation of the valve device. Thereby, the trapped in the second working chamber fluid with increasing approach of the Aktorglieds to the target position, compressed due to a reduction in the volume of the second working chamber and thus serves as an elastic fluid buffer for the movement of the Aktorglieds. Preferably, the time for the control of the valve device for releasing the second working chamber is selected such that on the one hand the at least temporarily trapped fluid can flow without further switching operation of the valve device and on the other hand, the desired deceleration of the actuator member is guaranteed until reaching the target position. This point in time for the actuation of the valve device can also be made dependent on whether the second working chamber was already closed during the acceleration of the actuator member or whether the second working chamber was closed at a later time.
Vorteilhafte Weiterbildungen des Verfahrens sind Gegenstand der Unteransprüche.Advantageous developments of the method are the subject of the dependent claims.
Bei einer vorteilhaften Weiterbildung des Verfahrens ist vorgesehen, dass die Ventileinrichtung während und/oder nach der Abbremsung des Aktorglieds derart angesteuert wird, dass die zweite Arbeitskammer in der Zielposition drucklos ist. Hierdurch wird sichergestellt, dass der Fluiddruck, der beim Erreichen der Zielposition in der ersten Arbeitskammer gespeichert ist, vollständig für die Ausübung einer statischen Haltekraft durch das Aktorglied auf die gekoppelte Last zur Verfügung steht. Wahlweise kann vorgesehen werden, dass die zweite Arbeitskammer bei Erreichen der Zielposition in kommunizierender Verbindung mit der Umgebung und dem dort herrschenden Fluiddruck verbleibt oder dass die Ventileinrichtung derart angesteuert wird, dass die zweite Arbeitskammer fluidisch von der Umgebung getrennt wird. Im letzteren Fall wird die zweite Arbeitskammer zur Verstärkung der Haltekraft, die von der ersten Arbeitskammer auf das Aktorglied ausgeübt wird, genutzt, da ein Verschiebungswiderstand für das Aktorglied bei Einleitung von äußeren Kräften auf die gekoppelte Last aufgrund des in der zweiten Arbeitskammer eingeschlossenen Fluidvolumens erhöht wird.In an advantageous development of the method, it is provided that the valve device is activated during and / or after the deceleration of the actuator member such that the second working chamber is depressurized in the target position. This ensures that the fluid pressure which is stored in the first working chamber when the target position is reached is completely available for the application of a static holding force by the actuator member to the coupled load. Optionally, it may be provided that the second working chamber remains in communicating connection with the environment and the prevailing fluid pressure upon reaching the target position or that the valve device is controlled in such a way that the second working chamber is fluidically separated from the environment. In the latter case, the second working chamber for enhancing the holding force, which is exerted by the first working chamber on the actuator member, used as a displacement resistance for the Aktorglied upon introduction of external forces to the coupled load due to the trapped fluid volume in the second working chamber is increased.
Bei einer vorteilhaften Weiterbildung des Verfahrens ist vorgesehen, dass das erste vorgebbare Volumen des druckbeaufschlagten Fluids, das an die erste Arbeitskammer bereitgestellt wird, derart bemessen ist, dass in der Arbeitskammer bei Erreichen der Zielposition ein, insbesondere unterhalb eines Versorgungsdrucks für die Ventileinrichtung angesiedelter, vorgebbarer Zieldruck vorliegt. Der Zieldruck ist vorzugsweise derart gewählt, dass äußere Kräfte, die nach Erreichen der Zielposition auf das Aktorglied und die damit gekoppelte Last einwirken, zumindest dann nicht zu einer Bewegung des Aktorglieds und der Last führen, wenn diese Kräfte innerhalb eines vorgebbaren Intervalls liegen. Sollten die äußeren Kräfte außerhalb des vorgegebenen Intervalls liegen, kann je nach Einsatzfall für das Arbeitssystem entweder eine Bewegung des Aktorglieds und der Last toleriert werden oder es kann eine Zufuhr von druckbeaufschlagtem Fluid in die erste Arbeitskammer vorgesehen werden, um eine ausreichend große Gegenkraft zur den von außen eingeleiteten Kräften aufzubringen. Je niedriger die notwendige Haltekraft für die Last und damit der Zieldruck in der ersten Arbeitskammer liegt, desto effizienter kann das Arbeitssystem die zur Verfügung gestellte Energie nutzen. Je nach Anwendungsfall für das Arbeitssystem kann es zulässig sein, dass in der Zielposition keine Haltekraft vom Aktorglied bereitgestellt werden muss, beispielsweise wenn die damit gekoppelte Last in anderer Weise, insbesondere mechanisch, in der Zielposition verriegelt wird. In diesem Fall kann der Zieldruck für die erste Arbeitskammer verschwindend gewählt werden.In an advantageous development of the method, it is provided that the first predeterminable volume of the pressurized fluid, which is provided to the first working chamber, is dimensioned such that a predetermined, in particular below a supply pressure for the valve device settled in the working chamber upon reaching the target position Target pressure is present. The target pressure is preferably chosen such that external forces acting on the actuator member and the load coupled thereto after reaching the target position, at least not lead to a movement of the actuator member and the load, if these forces are within a predetermined interval. If the external forces are outside the predetermined interval, either a movement of the Aktorglieds and the load can be tolerated depending on the application for the work system or it can be provided a supply of pressurized fluid in the first working chamber to a sufficiently large counterforce to that of applied externally applied forces. The lower the required holding force for the load and thus the target pressure in the first working chamber, the more efficiently the working system can use the energy provided. Depending on the application for the work system, it may be permissible that no holding force has to be provided by the actuator member in the target position, for example when the load coupled thereto is locked in the target position in a different manner, in particular mechanically. In this case, the target pressure for the first working chamber can be selected to be vanishing.
Bei einer vorteilhaften Weiterbildung des Verfahrens ist vorgesehen, dass die Ventileinrichtung derart angesteuert wird, dass der ersten Arbeitskammer beim Erreichen der Zielposition ein drittes vorgebbares Volumen eines druckbeaufschlagten Fluids zugeführt wird, um den Zieldruck in der ersten Arbeitskammer am Ende des Abbremsvorgangs oder nach Beendigung des Abbremsvorgangs um einen vorgebbaren Betrag zu erhöhen. Bei diesem Betriebsfall für die Arbeitseinrichtung wird die effiziente Nutzung der dem Arbeitssystem zur Verfügung gestellten Energie dadurch sichergestellt, dass die Anforderung nach einem Zieldruck, der höher als derjenige Zieldruck ist, der sich allein durch das zur Erreichung der Zielgeschwindigkeit notwendige erste Volumen des druckbeaufschlagten Fluids einstellt, dadurch erfüllt wird, dass das dritte Volumen erst zu einem Zeitpunkt an den ersten Arbeitsraum bereitgestellt wird, zu dem kein oder zumindest kein relevanter Beschleunigungsweg für das Aktorglied mehr zur Verfügung steht. Somit wird durch die Zufuhr des dritten Volumens des druckbeaufschlagten Fluids in die erste Arbeitskammer auch keine Abbremsung des Aktorglieds erforderlich, die sich ansonsten negativ auf die Energieeffizienz auswirken würde. Vielmehr wird die in die erste Arbeitskammer durch das dritte Volumen des druckbeaufschlagten Fluid eingebrachte Energiemenge zumindest nahezu vollständig in die gewünschte Haltekraft, die sich durch die Erhöhung des Zieldrucks einstellt, umgesetzt.In an advantageous development of the method, it is provided that the valve device is controlled such that the first working chamber upon reaching the target position a third predetermined volume of a pressurized fluid is supplied to increase the target pressure in the first working chamber at the end of the deceleration process or after completion of the deceleration process by a predetermined amount. In this operating case for the work equipment, the efficient use of the power provided to the work system is ensured by the requirement for a target pressure higher than the target pressure set by the first volume of the pressurized fluid needed to reach the target speed alone , is satisfied by the fact that the third volume is provided only at a time to the first working space to which no or at least no relevant acceleration path for the actuator member is more available. Thus, the supply of the third volume of the pressurized fluid into the first working chamber also no deceleration of the actuator member is required, which would otherwise have a negative impact on energy efficiency. Rather, the amount of energy introduced into the first working chamber by the third volume of the pressurized fluid is at least almost completely converted into the desired holding force, which is established by the increase in the target pressure.
Bei einer vorteilhaften Weiterbildung des Verfahrens ist vorgesehen, dass die Steuereinrichtung die Ansteuerung der Ventileinrichtung zur Bereitstellung des ersten vorgebbaren Volumens an die erste Arbeitskammer und zur Ermöglichung des Abströmens eines zweiten vorgebbaren Volumens aus der zweiten Arbeitskammer zeitgesteuert vornimmt. Hierdurch kann das Verfahren mit einer einfach aufgebauten Steuerungseinrichtung vorgenommen werden. Vorzugsweise sind dem Aktor ein oder zwei Endlagensensoren zugeordnet, die bei Erreichen der wenigstens einen oder der wenigstens zwei Zielpositionen längs des Bewegungswegs des Aktorglieds ein entsprechendes Signal an die Steuerungseirichtung ausgeben, damit diese Kenntnis davon hat, ob die zeitgesteuerte Ansteuerung der Ventileinrichtung den gewünschten Erfolg in Form des Erreichens der jeweiligen Zielposition durch das Aktorglied erbracht hat.In an advantageous development of the method, it is provided that the control device controls the actuation of the valve device to provide the first predeterminable volume to the first working chamber and to allow the outflow of a second predeterminable volume from the second working chamber to be timed. As a result, the method can be carried out with a simply constructed control device. Preferably, one or two end position sensors are associated with the actuator, which output on reaching the at least one or the at least two target positions along the path of movement of the Aktorglieds a corresponding signal to the Steuerungseirichtung, so this knowledge thereof has whether the timed control of the valve device has yielded the desired success in the form of reaching the respective target position by the actuator member.
Bei einer vorteilhaften Weiterbildung des Verfahrens ist vorgesehen, dass dem Aktor eine Druckmesseinrichtung und/oder wenigstens eine Endlagensensor und/oder eine Wegmesseinrichtung zugeordnet ist und dass eine Ansteuerung, insbesondere eine Regelung, der Ventileinrichtung in Abhängigkeit von Messwerten, die von der Druckmesseinrichtung und/oder dem wenigstens einen Endlagensensor und/oder der Wegmesseinrichtung an die Steuereinrichtung bereitgestellt werden, erfolgt. Hierdurch kann eine robuste Auslegung des Arbeitssystems erreicht werden, das somit auch bei wechselnden Lasten und/oder anderen sich ändernden Randbedingungen wie z.B. temperaturabhängigen Änderungen von Reibwerten zwischen Last und zugeordneter Lagerung stets die Erreichung der Zielposition für das Aktorglied gewährleistet.In an advantageous development of the method, it is provided that the actuator is assigned a pressure measuring device and / or at least one end position sensor and / or a displacement measuring device and that a control, in particular a control, of the valve device as a function of measured values, by the pressure measuring device and / or the at least one end position sensor and / or the path measuring device are provided to the control device takes place. As a result, a robust design of the work system can be achieved, which thus also under changing loads and / or other changing boundary conditions such. Temperature-dependent changes of friction between load and associated storage always ensures the achievement of the target position for the actuator member.
Bei einer vorteilhaften Weiterbildung des Verfahrens ist vorgesehen, dass die Zielposition für das Aktorglied derart gewählt ist, dass ein Arbeitsvolumen der zweiten Arbeitskammer minimal ist und dass das erste Volumen für das druckbeaufschlagte Fluid und das zweite vorgebbare Volumen für das abströmende Fluid derart vorgegeben sind, dass das Aktorglied die Zielposition mit, insbesondere zumindest nahezu, verschwindender Bewegungsgeschwindigkeit erreicht. Bei einem minimalen Arbeitsvolumen der zweiten Arbeitskammer in der Zielposition wird zum einen der maximale Verstellweg des Aktors in vorteilhafter Weise ausgenutzt, zum anderen ist der Beitrag zur Verstärkung der Haltekraft in der Zielposition durch das in der zweiten Arbeitskammer eingeschlossene Fluidvolumen am größten, wenn das Arbeitsvolumen der zweiten Arbeitskammer minimal ist. Das Erreichen der Zielposition durch das Aktorglied mit, zumindest nahezu, verschwindender Bewegungsgeschwindigkeit ist vorteilhaft, da hierdurch eine vorteilhafte Ausnutzung der Energie des in die erste Arbeitskammer eingeleiteten druckbeaufschlagten Fluids gewährleistet wird, da keine energetisch ungünstige Abbremsung des Aktorglieds und/oder der damit gekoppelten Last erforderlich ist. Ferner werden dadurch unerwünschte Impulseinleitungen vom Aktorglied in das Aktorgehäuse und/oder von der Last auf einen möglicherweise vorgesehenen Endanschlag vermieden, die zu einem Verschleiß der jeweiligen Komponenten führen könnten.In an advantageous embodiment of the method, it is provided that the target position for the actuator member is selected such that a working volume of the second working chamber is minimal and that the first volume for the pressurized fluid and the second predetermined volume for the outflowing fluid are predetermined such that the actuator member reaches the target position with, in particular at least almost, vanishing movement speed. With a minimum working volume of the second working chamber in the target position, on the one hand, the maximum displacement of the actuator is advantageously utilized, on the other hand, the contribution to the reinforcement of the holding force in the target position by the fluid volume enclosed in the second working chamber is greatest when the working volume of the second working chamber is minimal. Achieving the target position by the actuator member with, at least almost, vanishing movement speed is advantageous, since this is an advantageous Utilization of the energy of the introduced into the first working chamber pressurized fluid is ensured because no energetically unfavorable deceleration of the actuator member and / or the load coupled thereto is required. Furthermore, this undesirable pulse discharges are avoided by the actuator member in the actuator housing and / or the load on a possibly provided end stop, which could lead to wear of the respective components.
Bei einer vorteilhaften Weiterbildung des Verfahrens ist vorgesehen, dass während der Bewegung zwischen der Startposition und der Zielposition eine Überprüfung der Geschwindigkeit des Aktorglieds durch die Steuereinrichtung vorgenommen wird, um bei Abweichungen von der vorgebbaren Zielgeschwindigkeit eine zusätzliche Zufuhr von druckbeaufschlagtem Fluid in die erste Arbeitskammer oder eine zeitweilige Begrenzung des Abströmens des zweiten vorgebbaren Volumens des in der zweiten Arbeitskammer enthaltenen Fluids aus der zweiten Arbeitskammer zu ermöglichen. Hierdurch wird eine vorteilhafte dynamische Anpassung des Arbeitssystems an sich ändernde Randbedingungen wie die Änderung der Bewegungswiderstände für Aktorglied und/oder Last oder die Änderung der Masse der Last gewährleistet.In an advantageous development of the method, it is provided that, during the movement between the start position and the target position, the speed of the actuator member is checked by the control device in order to provide an additional supply of pressurized fluid into the first working chamber or at deviations from the predefinable target speed To allow temporary limitation of the outflow of the second predetermined volume of the fluid contained in the second working chamber from the second working chamber. As a result, an advantageous dynamic adaptation of the work system to changing boundary conditions such as the change of the movement resistance for actuator member and / or load or the change in the mass of the load is ensured.
Bei einer vorteilhaften Weiterbildung des Verfahrens ist vorgesehen, dass das Abströmen des zweiten vorgebbaren Volumens des in der zweiten Arbeitskammer enthaltenen Fluids aus der zweiten Arbeitskammer ungedrosselt erfolgt. Die Drosselwirkung beim Abströmen des Fluids aus der zweiten Arbeitskammer beschränkt sich in vorteilhafter Weise auf die nicht gänzlich zu eliminierende Fluidreibung in der Ventileinrichtung und in den Fluidleitern, bei denen es sich insbesondere um Fluidschläuche handeln kann. Bei einem derartigen, zumindest nahezu ungedrosselten Abströmen des Fluids treten somit keine nennenswerten Fluidreibungsverluste auf, die ansonsten die Energieeffizienz für das Arbeitssystem verschlechtern würden. Dies ist insbesondere für das Abströmen des Fluids aus der zweiten Arbeitskammer bei Annäherung des Aktorglieds an die Zielposition vorteilhaft, kann jedoch auch von Bedeutung sein, wenn während der Beschleunigungsphase für das Aktorglied ein Abströmen von Fluid aus der zweiten Arbeitskammer vorgesehen sein sollte.In an advantageous development of the method, it is provided that the outflow of the second predeterminable volume of the fluid contained in the second working chamber from the second working chamber takes place unthrottled. The throttling effect during the outflow of the fluid from the second working chamber is limited in an advantageous manner to the fluid friction which can not be completely eliminated in the valve device and in the fluid conductors, which may in particular be fluid hoses. In such, at least almost unthrottled outflow of the fluid thus occur no significant fluid friction losses, which would otherwise worsen the energy efficiency of the work system. This is advantageous in particular for the outflow of the fluid from the second working chamber when the actuator member approaches the target position, but may also be significant if an outflow of fluid from the second working chamber should be provided for the actuator member during the acceleration phase.
Bei einer vorteilhaften Weiterbildung der Erfindung ist vorgesehen, dass die Steuereinrichtung die Ventileinrichtung für eine Bereitstellung eines ersten vorgebbaren Volumens eines druckbeaufschlagten Fluids an die erste Arbeitskammer und für ein Abströmen eines zweiten vorgebbaren Volumens eines in der zweiten Arbeitskammer enthaltenen Fluids aus der zweiten Arbeitskammer derart ansteuert, dass ein gemittelter Druck aus Druckwerten der beiden Arbeitskammern zu Beginn und zum Ende einer Bewegung des Aktorglieds auf einem Druckniveau liegt, das weniger als 30 Prozent, vorzugsweise weniger als 20 Prozent, insbesondere weniger als 10 Prozent, eines an der Ventileinrichtung anliegenden Versorgungsdrucks beträgt. Für eine signifikante Einsparung von druckbeaufschlagtem Fluid und eine damit verbundene Effizienzsteigerung beim Betreiben eines entsprechenden Arbeitssystems ist es von Bedeutung, dass der gemittelte Druck aus Druckwerten der beiden Arbeitskammern, der auch als Mitteldruck bezeichnet wird, vor der Bereitstellung des ersten Volumens des druckbeaufschlagten Fluids an die erste Arbeitskammer und nach dem Erreichen der Zielposition durch das Aktorglied auf einem möglichst geringen Druckniveau liegt. Dieses Druckniveau liegt vorteilhafterweise erheblich unter dem halben Versorgungsdruck, der an die Ventileinrichtung bereitgestellt wird.In an advantageous development of the invention, it is provided that the control device controls the valve device for providing a first predeterminable volume of a pressurized fluid to the first working chamber and for discharging a second predeterminable volume of a fluid contained in the second working chamber from the second working chamber, in that an averaged pressure from pressure values of the two working chambers at the beginning and end of a movement of the actuator member is at a pressure level which is less than 30 percent, preferably less than 20 percent, in particular less than 10 percent, of a supply pressure applied to the valve device. For a significant savings in pressurized fluid and associated efficiency increase in operating a corresponding work system, it is important that the averaged pressure from pressure values of the two working chambers, which is also referred to as medium pressure, before providing the first volume of the pressurized fluid to the first working chamber and after reaching the target position by the actuator member is at the lowest possible pressure level. This pressure level is advantageously considerably less than half the supply pressure which is provided to the valve device.
In weiterer Ausgestaltung des Verfahrens ist vorgesehen, dass der gemittelte Druck durch Zufuhr eines ersten Volumens druckbeaufschlagten Fluid in die erste Arbeitskammer auf einen ersten Maximalwert ansteigt und zum Zeitpunkt der Freigabe des in der zweiten Arbeitskammer durch die Bewegung des Aktorglieds komprimierten Fluids einen zweiten Maximalwert einnimmt und zwischen dem ersten und dem zweiten Maximalwert zeitweilig ein Druckniveau erreicht, das weniger als 30 Prozent, vorzugsweise weniger als 20 Prozent, insbesondere weniger als 10 Prozent, eines an der Ventileinrichtung anliegenden Versorgungsdrucks beträgt. Dieser Verlauf des Mitteldrucks, der eine besonders energieeffiziente Betriebsweise für das Arbeitssystem ermöglicht, ist dann gewährleistet, wenn nur zu Beginn der Bewegung des Aktorglieds druckbeaufschlagtes Fluid in die erste Arbeitskammer bereitgestellt wird und der gesamte übrige Bewegungsablauf des Aktorglieds und der damit gekoppelten Last ohne weitere Zufuhr von druckbeaufschlagtem Fluid in die erste oder zweite Arbeitskammer erfolgt. Sofern bei Erreichen der Zielposition eine vorgebbare Haltekraft vom Aktorglied auf die Last ausgeübt werden soll und zu diesem Zweck kurz vor dem Erreichen oder nach dem Erreichen der Zielposition eine weitere Zufuhr druckbeaufschlagten Fluid in die erste Arbeitskammer erfolgen sollte, ist das hierzu vorgesehene dritte Volumen des druckbeaufschlagten Fluids so gewählt, dass nur eine moderate Erhöhung des Mittendrucks eintritt, die die vorstehenden Intervallgrenzen nicht überschreitet.In a further embodiment of the method it is provided that the average pressure increases by supplying a first volume of pressurized fluid in the first working chamber to a first maximum value and at the time of release of the compressed in the second working chamber by the movement of the Aktorglieds fluid occupies a second maximum value and between the first and the second maximum value temporarily reaches a pressure level which is less than 30 percent, preferably less than 20 percent, in particular less than 10 percent, of a voltage applied to the valve device supply pressure. This course of the medium pressure, which enables a particularly energy-efficient operation of the work system, is ensured if only at the beginning of the movement of Aktorglieds pressurized fluid is provided in the first working chamber and the rest of the movement of the Aktorglieds and the load coupled thereto without further supply pressurized fluid into the first or second working chamber. If, upon reaching the target position, a predeterminable holding force is to be exerted by the actuator member on the load and for this purpose a further supply of pressurized fluid into the first working chamber should take place shortly before reaching or after reaching the target position, the third volume of the pressurized medium is provided for this purpose Fluids are selected so that only a moderate increase in the center pressure occurs that does not exceed the above interval limits.
Das erfindungsgemäße Verfahren kann beispielsweise mit einem Arbeitssystem durchgeführt werden. Hierbei ist vorgesehen, dass das Arbeitssystem zur Bereitstellung einer Stellbewegung eines Aktors einen Aktor mit einem Aktorgehäuse und einem im Aktorgehäuse beweglich aufgenommenes Aktorglied umfasst, wobei das Aktorgehäuse und das Aktorglied eine erste und mindestens eine zweite Arbeitskammer bestimmen, die jeweils separat druckbeaufschlagbar sind und die zur Bereitstellung von einander entgegengesetzt wirkenden Aktorkräften auf das Aktorglied ausgebildet sind. Ferner umfasst das Arbeitssystem eine Ventileinrichtung, die zur separaten Ansteuerung der beiden Arbeitskammern ausgebildet ist, sowie eine Steuereinrichtung zur Ansteuerung der Ventileinrichtung. Dabei ist vorgesehen, dass die Steuereinrichtung für die Durchführung eines der Verfahren nach einem der Ansprüche 1 bis 11 ausgebildet ist.The inventive method can be carried out for example with a work system. It is provided that the work system for providing an actuating movement of an actuator comprises an actuator with an actuator housing and a Aktorgehäuse movably received actuator member, the actuator housing and the Aktorglied determine a first and at least one second working chamber, which are each pressurizable separately and the Provision of opposing acting Actuator forces are formed on the actuator member. Furthermore, the operating system comprises a valve device, which is designed for the separate control of the two working chambers, and a control device for controlling the valve device. It is provided that the control device is designed for carrying out one of the methods according to one of
Zweckmäßig ist es, wenn die Ventileinrichtung wenigstens eine Anordnung aus vier 2/2-Wegeventilen umfasst, die jeweils einen ersten und einen zweiten Fluidanschluss und ein bewegliches Ventilglied für die Einstellung eines freien Fluidkanalquerschnitts zwischen dem ersten und dem zweiten Fluidanschluss aufweisen, wobei die vier 2/2-Wegeventile in einer Vollbrückenanordnung miteinander verschaltet sind, bei der die ersten Fluidanschlüsse des ersten und des zweiten 2/2-Wegeventils mit einer Fluidquelle verbindbar sind, der zweite Fluidanschluss des ersten 2/2-Wegeventils und der erste Fluidanschluss des vierten 2/2-Wegeventils mit der ersten Arbeitskammer verbunden sind, der zweite Fluidanschluss des zweiten 2/2-Wegeventils und der erste Fluidanschluss des dritten 2/2-Wegeventils mit der zweiten Arbeitskammer verbunden sind und die zweiten Fluidanschlüsse des dritten und des vierten 2/2-Wegeventils mit einem Entlüftungskanal verbunden sind. Mit einer derartigen Anordnung von 2/2-Wegeventilen kann eine Vielzahl von unterschiedlichen Ventiltypen zur Ansteuerung der Arbeitskammern nachgebildet werden, insbesondere können jeweils den Arbeitskammern zugeordnete 3/3-Wegeventile nachgebildet werden, die für eine separate Ansteuerung der ersten und der zweiten Arbeitskammer eingesetzt werden können.It is expedient if the valve device comprises at least one arrangement of four 2/2-way valves, each having a first and a second fluid port and a movable valve member for adjusting a free fluid channel cross section between the first and the second fluid port, wherein the four / 2-way valves are interconnected in a full bridge arrangement, in which the first fluid ports of the first and second 2/2-way valve are connectable to a fluid source, the second fluid port of the first 2/2-way valve and the first fluid port of the fourth 2 / 2-way valve are connected to the first working chamber, the second fluid port of the second 2/2-way valve and the first fluid port of the third 2/2-way valve are connected to the second working chamber and the second fluid ports of the third and the fourth 2/2 Directional valve are connected to a vent channel. With such an arrangement of 2/2-way valves, a plurality of different valve types for controlling the working chambers can be modeled, in particular, each of the working chambers associated 3/3-way valves can be modeled, which are used for a separate control of the first and the second working chamber can.
Vorteilhaft ist es, wenn zwischen der ersten Arbeitskammer und der zweiten Arbeitskammer ein Verbindungskanal ausgebildet ist, in dem ein von der Steuereinrichtung individuell zwischen einer Sperrstellung und einer Freigabestellung umschaltbares, insbesondere als 2/2-Wegeventil ausgebildetes, Ventilmittel zur Beeinflussung eines freien Querschnitts des Verbindungskanals angeordnet ist, um eine kommunizierende Verbindung zwischen der ersten und der zweiten Arbeitskammer zeitweilig freizugeben. Der Verbindungskanal kann insbesondere dann zeitweilig freigegeben werden, wenn sich nach der Zufuhr des ersten Volumens des druckbeaufschlagten Fluids in die erste Arbeitskammer herausstellen sollte, dass die Zielgeschwindigkeit für das Aktorglied und die damit gekoppelte Last überschritten wurde und somit eine stärkere Abbremsung des Aktorglieds erforderlich ist, die ansonsten durch direkte Einleitung von druckbeaufschlagtem Fluid in die zweite Arbeitskammer sichergestellt werden müsste.It is advantageous if between the first working chamber and the second working chamber, a connecting channel is formed, in which one of the control means individually switchable between a blocking position and a release position, in particular, a valve means configured as a 2/2-way valve for influencing a free cross section of the connection channel is arranged to temporarily release a communicating connection between the first and the second working chamber. The connecting channel can be released temporarily, in particular, if after the supply of the first volume of the pressurized fluid into the first working chamber it should turn out that the target speed for the actuator member and the load coupled thereto has been exceeded and thus a greater deceleration of the actuator member is required, which would otherwise have to be ensured by direct introduction of pressurized fluid into the second working chamber.
Vorteilhafte Ausführungsformen der Erfindung sind in der Zeichnung dargestellt. Dabei zeigt:
Figur 1- ein schematisches Blockschaltbild eines gesteuerten Arbeitssystems mit einem Aktor, einer Last, einer Ventileinrichtung und einer Steuereinrichtung,
Figur 2- ein schematisches Blockschaltbild eines geregelten Arbeitssystems mit einem Aktor, einer Last, einer Ventileinrichtung und einer Steuereinrichtung,
Figur 3- eine Zusammenstellung von Diagrammen, die wesentliche Kennwerte wie Weg, Geschwindigkeit, Kammerdrücke, Kräfte und Fluidverbrauch in einem ersten Anwendungsfall, bei dem eine verschwindende Haltekraft in der Zielposition vorgesehen ist, darstellen,
Figur 4- eine Zusammenstellung von Diagrammen, die wesentliche Kennwerte wie Weg, Geschwindigkeit, Kammerdrücke, Kräfte und Fluidverbrauch in einem zweiten Anwendungsfall, bei dem eine vorgebbare Haltekraft in der Zielposition vorgesehen ist, darstellen,
Figur 5- ein Diagramm mit Kraftverläufen von unterschiedlich betriebenen Arbeitssystemen und
Figur 6- ein schematisches Blockschaltbild für eine aus 2/2-Wegeventilen aufgebaute Ventileinrichtung.
- FIG. 1
- 1 is a schematic block diagram of a controlled work system with an actuator, a load, a valve device and a control device;
- FIG. 2
- 1 is a schematic block diagram of a controlled work system with an actuator, a load, a valve device and a control device;
- FIG. 3
- a compilation of diagrams showing essential characteristics such as travel, speed, chamber pressures, forces and fluid consumption in a first application in which a vanishing holding force is provided in the target position,
- FIG. 4
- a compilation of diagrams showing essential parameters such as travel, speed, chamber pressures, forces and fluid consumption in a second application, in which a predeterminable holding force is provided in the target position, represent,
- FIG. 5
- a diagram with force curves of differently operated work systems and
- FIG. 6
- a schematic block diagram of a constructed from 2/2-way valves valve device.
Ein in der
Das Arbeitssystem 1, bei dem eine zeitgesteuerte Ansteuerung der Ventileinrichtung 9 durch die Steuereinrichtung 15 vorgesehen ist, kann insbesondere bei konstanten Randbedingungen, also konstanter Last 6, konstanten Reibungsbedingungen für das Aktorglied 4 und die Last 6 und gleichbleibenden Anforderungen an die Haltekraft auf das Aktorglied 4 in der Zielposition betrieben werden. Nähere Angaben zur möglichen Betriebsweise für das Arbeitssystem 1 ergeben sich aus der nachstehenden Beschreibung zu den
Das in der
Das Arbeitssystem 51, bei dem Regelung der Ventileinrichtung 59 durch die Steuereinrichtung 65 vorgesehen ist, kann insbesondere bei variierenden Randbedingungen, also variierender Last 6 und/oder variierenden Reibungsbedingungen für das Aktorglied 4 und die Last 6 und/oder wechselnden Anforderungen an die Haltekraft auf das Aktorglied 4 in der jeweiligen Zielposition betrieben werden.The
In den
Dabei ist bei dem in
Aus dem Wegdiagramm der
Exemplarisch ist vorgesehen, dass zwischen dem Zeitpunkt t=0 und einem Zeitpunkt t=t1 die Zufuhr des vorgebbaren Volumens des druckbeaufschlagten Fluids in die erste Arbeitskammer 7 erfolgt. Ferner ist exemplarisch vorgesehen, dass die Ventileinrichtung 9, 59 von der Steuereinrichtung 15, 65 derart angesteuert wird, dass aus der zweite Arbeitskammer 8 vom Zeitpunkt t=t0 bis zum Zeitpunkt t=t2 Fluid abströmen kann. Durch diese Maßnahme kann einerseits ein in der zweiten Arbeitskammer zum Zeitpunkt t=t0 vorhandender Restdruck abgebaut werden, zum anderen kann dadurch zumindest weitgehend ein durch die Verkleinerung des Volumens der zweiten Arbeitskammer 8 stattfindender Druckaufbau in der zweiten Arbeitskammer 8 vermieden werden, der die Kraftentfaltung auf das Aktorglied 4 durch die Druckeinleitung in die erste Arbeitskammer 7 hemmen würde.By way of example, it is provided that the supply of the predeterminable volume of the pressurized fluid into the first working
Ab dem Zeitpunkt t=t2 bis zu einem Zeitpunkt t=t3 wird ein Abströmen von Fluid aus der zweiten Arbeitskammer 8 von der jeweiligen Ventileinrichtung 9, 59 unterbunden, um eine Abbremsung des Aktorglieds 4 und der Last 6 durch Kompression des in der zweiten Arbeitskammer 8 eingeschlossenen Fluidvolumens zu bewirken. Nach dem Zeitpunkt t=t3 wird die zweite Arbeitskammer 8 wieder freigegeben, so dass das Fluid wieder abströmen kann.From the time t = t2 up to a time t = t3, an outflow of fluid from the second working
Aus dem zugehörigen Kraftdiagramm gemäß der
Bei dem in der
Der Anwendungsfall gemäß der
Aus der
In der
Fakultativ kann bei der Ventileinrichtung 40 zwischen der ersten Arbeitskammer 7 und der zweiten Arbeitskammer 8 ein Verbindungskanal 47 ausgebildet ist, in dem ein von der Steuereinrichtung 48 individuell zwischen einer Sperrstellung und einer Freigabestellung umschaltbares, exemplarisch als 2/2-Wegeventil 49 ausgebildetes Ventilmittel zur Beeinflussung eines freien Querschnitts des Verbindungskanals 47 angeordnet ist, um eine kommunizierende Verbindung zwischen der ersten Arbeitskammer 7 und der zweiten Arbeitskammer 8 zeitweilig freizugeben.Optionally, in the
Claims (11)
- Method for the control of a fluidically operable operating system (1; 51) having an actuator (2) with an actuator housing (3) and an actuator member (4) held movably in the actuator housing (3), wherein the actuator housing (3) and the actuator member (4) determine a first and at least one second working chamber (7, 8) which are each separately able to be pressurised and are designed to provide actuator forces acting on the actuator member (4) opposite to one another, and having a valve device (9; 59) designed for separate control of the two working chambers (7, 8), together with a control device (15; 65) to control the valve device (9; 59), characterised in that the control device (15; 65) presets the following steps: control of the valve device (9; 59) to provide a first presettable volume of a pressurised fluid to the first working chamber (7), in order to accelerate the actuator member (7) from a start position to a presettable target speed, wherein the presettable volume is so dimensioned that an amount of energy supplied to the first working chamber (7) via the pressurised fluid is as far as possible exactly sufficient to accelerate the actuator member (4) to the required target speed, control of the valve device (9; 59) to close the first working chamber (7), control of the valve device (9; 59) to allow an outflow from the second working chamber (8) of a second presettable volume of a fluid contained in the second working chamber (8), so that braking of the actuator member (4) to a presettable target position along the actuator housing (3) is ensured.
- Method according to claim 1, characterised in that the valve device (9; 59) is so controlled during and/or after the braking of the actuator member (4) that the second working chamber (8) is unpressurised in the target position.
- Method according to claim 1 or 2, characterised in that the first presettable volume of the pressurised fluid which is supplied to the first working chamber (7) is so dimensioned that in the first working chamber (7), on reaching the target position, a target pressure is present which is presettable and in particular below a supply pressure for the valve device (9; 59).
- Method according to claim 3, characterised in that the valve device (9; 59) is so controlled that the first working chamber (7), on reaching the target position, is supplied with a third presettable volume of a pressurised fluid, in order to increase the target pressure in the first working chamber (7) at the end of the braking process or after completion of the braking process by a presettable amount.
- Method according to any of claims 1 to 4, characterised in that the control device (15; 65) undertakes timed control of the valve device (9; 59) to supply the first presettable volume to the first working chamber (7) and to allow the outflow of a second presettable volume from the second working chamber (8).
- Method according to any of claims 1 to 5, characterised in that the actuator is assigned a pressure measuring device and/or at least one end position sensor (18) and/or a position measuring device (71), and that control, in particular regulation, of the valve device (9; 59) takes place on the basis of measured values supplied to the operating system (1; 51) by the pressure measuring device and/or the end position sensor or sensors (18) and/or the position measuring device (71).
- Method according to any of the preceding claims, characterised in that the target position for the actuator member (4) is so chosen that a working volume of the second working chamber (8) is minimal, and that the first volume for the pressurised fluid and second presettable volume for the outflowing fluid is preset so that the actuator member (4) reaches the target position with vanishing, in particular at least almost vanishing speed of movement.
- Method according to any of the preceding claims characterised in that, during the movement between the start position and the target position, a check on the speed of the actuator member (4) is made by the control device (65) so that, in the event of deviations from the presettable target speed, an additional supply of pressurised fluid into the first working chamber (7) or a temporary restriction of the outflow from the second working chamber (8) of the second presettable volume of the fluid contained in the second working chamber (8) may be facilitated.
- Method according to any of the preceding claims, characterised in that the outflow from the second working chamber (8) of the second presettable volume of the fluid contained in the second working chamber (8) takes place without restriction.
- Method according to any of the preceding claims, characterised in that the control device (15; 65) controls the valve device (9; 59) for provision of a first presettable volume of a pressurised fluid to the first working chamber (7) and for outflow from the second working chamber (8) of a second presettable volume of a fluid contained in the second working chamber (8) in such a way that an averaged pressure of the pressure values of the two working chambers (7, 8), at the start and finish of movement of the actuator member (4), lies at a pressure level which is less than 30 percent, preferably less than 20 percent, in particular less than 10 percent of a supply pressure present at the valve device.
- Method according to claim 10, characterised in that the averaged pressure rises to a first maximum value through the supply of a first volume of pressurised fluid into the first working chamber (7) and, at the time of release of the compressed fluid into the second working chamber (8) through the movement of the actuator member (4), adopts a second maximum value and, between the first and second maximum values, temporarily reaches a pressure level which is less than 30 percent, preferably less than 20 percent, in particular less than 10 percent of a supply pressure present at the valve device.
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EP20120002099 EP2644904B1 (en) | 2012-03-26 | 2012-03-26 | Method for controlling a work system that can be operated using fluid |
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DE102018118955B4 (en) * | 2018-08-03 | 2020-02-13 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Method for operating a fluidic device for handling, moving or tensioning objects for determining leaks in the piston and device of this type |
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Publication number | Publication date |
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CN103362901A (en) | 2013-10-23 |
CN103362901B (en) | 2016-04-06 |
EP2644904A1 (en) | 2013-10-02 |
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