WO1992008177B1 - Hybrid control method and system for controlling the flow of liquid coating material - Google Patents
Hybrid control method and system for controlling the flow of liquid coating materialInfo
- Publication number
- WO1992008177B1 WO1992008177B1 PCT/US1991/007657 US9107657W WO9208177B1 WO 1992008177 B1 WO1992008177 B1 WO 1992008177B1 US 9107657 W US9107657 W US 9107657W WO 9208177 B1 WO9208177 B1 WO 9208177B1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- signal
- flow
- coating material
- liquid coating
- generating
- Prior art date
Links
- 239000011248 coating agent Substances 0.000 title claims abstract 53
- 238000000576 coating method Methods 0.000 title claims abstract 53
- 239000007788 liquid Substances 0.000 title claims abstract 51
- 239000000463 material Substances 0.000 title claims abstract 46
- 230000001276 controlling effect Effects 0.000 title claims abstract 8
- 230000001105 regulatory Effects 0.000 claims abstract 18
- 238000005507 spraying Methods 0.000 claims 6
- 239000007921 spray Substances 0.000 claims 2
- 230000002596 correlated Effects 0.000 abstract 1
Abstract
A hybrid control method and system are provided for controlling the flow of liquid coating material which is regulated by a flow regulator in response to a reference signal. The method and system have a closed loop mode and an open loop mode. A set of calibration data representing at least one expected flow rate for the liquid coating material is initially stored in a table in a calibration mode. In the open loop mode the reference signal is correlated with the calibration data to obtain a set signal which is utilized to generate a first electrical control signal so that the flow regulator regulates the flow of liquid coating material at an initial flow rate. The open loop mode is changed to the closed loop mode after the system operates in the open loop mode for a time determined during calibration. A feedback signal is generated as a function of the actual flow of the regulated liquid coating material. An error signal is generated as a function of the difference between the prior set signal and the feedback signal. A second electrical control signal is generated as a function of the error signal in the closed loop mode. The error signal is representative of the desired amount of liquid coating material flow change. The set of calibration data is modified when the actual flow rate is within a predetermined range of the flow rate represented by the second electrical control signal to obtain a modified set of calibration data representing a desired flow rate to compensate for varying system operating conditions, such as liquid temperature, liquid viscosity and mechanical/pneumatic system changes.
Claims
1. A method for controlling a flow regulator and a transducer for operating the flow regulator in response to electrical control signals to control the flow rate of liquid coating material regulated by the flow regulator in response to a reference signal, the method having a closed loop mode and an open loop mode, the method comprising the steps of: storing a set of calibration data representing at least one expected flow rate for the liquid coating material; correlating the reference signal with the calibration data to generate a set signal as a function of the reference signal; generating a first electrical control signal in accordance with the set signal in the open loop mode; generating a first pneumatic control signal based on the first electrical control signal; supplying the first pneumatic control signal to the flow regulator so that the flow regulator regulates the flow of liquid coating material at the expected flow rate; generating a feedback signal as a function of the actual flow of the regulated liquid coating material; generating an error signal as a function of the difference between the set signal and the feedback signal; generating a second electrical control signal as a function of the error signal in the closed loop mode, the error signal being representative of a desired amount of liquid coating material flow change; generating a second pneumatic control signal -31-
based on the second electrical control signal; supplying the second pneumatic control signal to the flow regulator; and changing from the open loop mode to the closed loop mode after a predetermined period of time has elapsed after the step of generating the first electrical control signal.
2. The method as claimed in claim 1 further comprising the step of modifying the set of calibration data when the actual flow rate is within a predetermined range of the flow rate represented by the second electrical control signal to obtain a modified set of calibration data representing a desired flow rate to compensate for varying system operating conditions.
3. The method as claimed in claim 2 further comprising the step of generating a temperature signal as a function of the temperature of the regulated liquid coating material.
4. A method for spray-coating an article in a coating zone, the method utilizing a robot having an arm provided with a support head movable about a plurality of control axes, an atomizing device attached to the support head, a flow regulator for controlling the flow of liquid coating material from a source of liquid to the atomizing device and a transducer for operating the flow regulator in response to electrical control signals to control the flow rate of liquid coating material regulated by the flow regulator in response to a reference signal, the method having a closed loop mode and an open loop mode, the method comprising the steps of: storing a set of calibration data representing at least one expected flow rate for the liquid coating material; correlating the reference signal with the calibration data to generate a set signal as a function of the reference signal; generating a first electrical control signal in accordance with the set signal in the open loop mode; generating a first pneumatic control signal based on the first electrical control signal; supplying the first pneumatic control signal to the flow regulator so that the flow regulator regulates the flow of liquid coating material at the expected flow rate; generating a feedback signal as a function of the actual flow of the regulated liquid coating material; generating an error signal as a function of the difference between the set signal and the feedback signal; generating a second electrical control signal as a function of the error signal in the closed loop mode, the error signal being representative of a desired amount of liquid coating material flow change; generating a second pneumatic control signal based on the second electrical control signal; supplying the second pneumatic control signal to the flow regulator; changing from the open loop mode to the closed loop mode after a predetermined period of time has elapsed after the step of generating the first electrical control signal; moving said atomizing device about said plurality of control axes to different positions along a programmed path at a predetermined distance from the article in the coating zone while coating the surface -33-
of the article with the atomized liquid coating material; and automatically coordinating operation of the flow regulator and the robot to control the spray- coating of the article in the coating zone.
5. The method as claimed in claim 4 further comprising the step of modifying the set of calibration data when the actual flow rate is within a predetermined range of the flow rate represented by the second electrical control signal to obtain a modified set of calibration data representing a desired flow rate to compensate for varying system operating conditions.
6. The method as claimed in claim 5 further comprising the steps of generating a temperature signal as a function of the temperature of the regulated liquid coating material.
7. In a system for spray-coating an article in a coating zone, the system including an atomizing device, a flow regulator for controlling the flow of liquid coating material from a source of liquid to the atomizing device, a control system having an open loop mode and a closed loop mode for controlling the flow regulator to control the flow of liquid coating material regulated by the flow regulator in response to a reference signal, the control system comprising: storage means for storing a set of calibration data representing at least one expected flow rate for the liquid coating material; means for correlating the reference signal with the calibration data to obtain a set signal as a function of the reference signal; first means for generating a first -34-
electrical control signal in accordance with the set signal in the open loop mode so that the flow regulator regulates the flow of liquid coating material from the source of liquid coating material to the atomizing device at the expected flow rate; generating a first pneumatic control signal based on the first electrical control signal; supplying the first pneumatic control signal to the flow regulator so that the flow regulator regulates the flow of liquid coating material at the expected flow rate; feedback means for generating a feedback signal as a function of the actual flow of the regulated liquid coating material; generating means for generating an error signal as a function of the difference between the set signal and the feedback signal; second means for generating a second electrical control signal as a function of the error signal in the closed loop mode, the error signal being representative of a desired amount of liquid coating material flow change; means for generating a second pneumatic control signal based on the second electrical control signal; means for supplying the second pneumatic control signal to the flow regulator; converter means adapted to be coupled to the flow regulator for converting the electrical control signals to regulator control signals for operating the flow regulator as a function of the electrical control signals; and mode control means for changing from the open loop mode to the closed loop mode after a predetermined period of time has elapsed after the first electrical control signal is generated. -35-
8. The control system as claimed in claim
7 wherein the feedback means includes modifying means for modifying the set of calibration data when the actual flow rate is within a predetermined range of the flow rate represented by the second electrical control signal to obtain a modified set of calibration data representing a desired flow rate to compensate for varying system operating conditions.
9. The control system as claimed in claim
8 further comprising a temperature sensor for generating a temperature signal as a function of the temperature of the regulated liquid coating material.
10. The control system as claimed in claim 7 wherein the feedback means includes a flow transducer for measuring the actual flow of the regulated liquid coating material to obtain a flow signal.
11. The control system as claimed in claim 10 wherein the flow signal includes a number of pulses, the number of pulses being a function of the actual flow of the regulated liquid coating material and wherein the feedback means further includes a counter means for counting the number of pulses.
12. The control system as claimed in claim
7 wherein the generating means generates the error signal as a function of the type of liquid coating material and wherein the control system further comprises indicator means coupled to the generator means for indicating the type of liquid coating material to be spray-coated. -36-
13. In a robot spray coating system for spray-coating an article in a coating zone, the system including a program-controlled robot, the robot having an arm provided with a support head which is movable about a plurality of control axes, an atomizing device mounted on the support head of said arm, a flow regulator for controlling the flow of liquid coating material from a source of liquid to the atomizing device, a robot controller for causing the support head of the arm to move the device about the plurality of control axes to different positions along a programmed path; a control system having an open loop mode and a closed loop mode for controlling the flow regulator to control the flow of liquid coating material regulated by the flow regulator in response to a reference signal, the control system comprising: storage means for storing a set of calibration data representing at least one expected flow rate for the liquid coating material; means for correlating the reference signal with the calibration data to obtain a set signal as a function of the reference signal; first means for generating a first electrical control signal in accordance with the set signal in the open loop mode so that the flow regulator regulates the flow of liquid coating material from the source of liquid coating material to the atomizing device at the expected flow rate; means for' generating a first pneumatic control signal based on the first electrical control signal; means for supplying the first pneumatic control signal to the flow regulator so that the flow regulator regulates the flow of liquid coating material at the expected flow rate; feedback means for generating a feedback -37-
signal as a function of the actual flow of the regulated liquid coating material; generating means for generating an error signal as a function of the difference between the set signal and the feedback signal; second means for generating a second electrical control signal as a function of the error signal in the closed loop mode; the error signal being representative of a desired amount of liquid coating material flow change; generating a second pneumatic control signal based on the second electrical control signal; supplying the second pneumatic control signal to the flow regulator; converter means adapted to be coupled to the flow regulator for converting the electrical control signals to regulator control signals for operating the flow regulator as a function of the electrical control signals; and mode control means for changing from the open loop mode to the closed loop mode after a predetermined period of time had elapsed after the first electrical control signal is generated wherein the robot controller automatically coordinates operation of the flow regulator and the support head to control the spray coating of the article in the coating zone.
14. The control system as claimed in claim 13 wherein the feedback means includes modifying means for modifying the set of calibration data when the actual flow rate is within a predetermined range of the flow rate represented by the second electrical control signal to obtain a modified set of calibration data representing a desired flow rate to compensate for varying system operating conditions. -38-
15. The control system as claimed in claim 14 further comprising a temperature sensor for generating a temperature signal as a function of the temperature of the regulated liquid coating material.
16. The control system as claimed in claim
13 wherein the feedback means includes a flow transducer for measuring the actual flow of the regulated liquid coating material to obtain a flow signal.
17. The control system as claimed in claim
16 wherein the flow signal includes a number of pulses, the number of pulses being a function of the actual flow of the regulated liquid coating material and wherein the feedback means further includes a counter means for counting the number of pulses.
18. The control system as claimed in claim 13 wherein the generating means generates the error signal as a function of the type of liquid coating material and wherein the control system further comprises indicator means coupled to the generator means for indicating the type of liquid coating material to be spray-coated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4500730A JPH06507336A (en) | 1990-10-30 | 1991-10-18 | Hybrid control method and system for flow control of liquid coating materials |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US60573990A | 1990-10-30 | 1990-10-30 | |
| US605,739 | 1990-10-30 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| WO1992008177A1 WO1992008177A1 (en) | 1992-05-14 |
| WO1992008177B1 true WO1992008177B1 (en) | 1994-05-11 |
Family
ID=24425013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/US1991/007657 WO1992008177A1 (en) | 1990-10-30 | 1991-10-18 | Hybrid control method and system for controlling the flow of liquid coating material |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP0555410A1 (en) |
| JP (1) | JPH06507336A (en) |
| WO (1) | WO1992008177A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3753422B2 (en) | 2001-03-27 | 2006-03-08 | 日本パーカライジング株式会社 | Powder coating material supply apparatus and method |
| EP1245293B1 (en) * | 2001-03-27 | 2006-12-13 | Nihon Parkerizing Co., Ltd. | Apparatus and method of controlling and supplying powder coating material |
| DE102013015313A1 (en) | 2013-09-16 | 2015-03-19 | Dürr Systems GmbH | Application system and corresponding application method |
| CN106393062A (en) * | 2016-11-01 | 2017-02-15 | 河池学院 | Micro robot automatically smearing B ultrasonic coupling agent |
| CN114798349B (en) * | 2022-03-01 | 2023-11-10 | 刘鹏祥 | Method and system for automatically calibrating flow of spraying water-based adhesive |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4288854A (en) * | 1979-09-12 | 1981-09-08 | Western Electric Co., Inc. | Bi-modal temperature controller |
| US4547858A (en) * | 1983-06-13 | 1985-10-15 | Allied Corporation | Dynamic control for manipulator |
| IT1186183B (en) * | 1985-11-08 | 1987-11-18 | Gaiotto Impianti Spa | PRESSURE BALANCER FOR CERAMIC ENAMEL SUPPLIES OR PAINTS IN GENERAL FOR SPRAY GUNS IN GENERAL, AND IN PARTICULAR FOR AUTOMATIC SPRAY GUNS INSTALLED ON GLAZING OR PAINTING ROBOTS |
| US4787332A (en) * | 1986-02-12 | 1988-11-29 | Robotics, Inc. | Adhesive dispensing pump control system |
| US4763055A (en) * | 1986-11-20 | 1988-08-09 | Westinghouse Electric Corp. | Digital robot control having high performance servo control system |
| DE3714000A1 (en) * | 1987-04-27 | 1988-11-10 | Behr Industrieanlagen | CONTROL SYSTEM FOR A PROGRAM-CONTROLLED SPRAYING DEVICE |
-
1991
- 1991-10-18 EP EP92902541A patent/EP0555410A1/en not_active Withdrawn
- 1991-10-18 WO PCT/US1991/007657 patent/WO1992008177A1/en not_active Application Discontinuation
- 1991-10-18 JP JP4500730A patent/JPH06507336A/en active Pending
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