EP1176314A2 - Procédé et dispositif pour compenser la compressibilité dans des commandes hydrauliques - Google Patents

Procédé et dispositif pour compenser la compressibilité dans des commandes hydrauliques Download PDF

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Publication number
EP1176314A2
EP1176314A2 EP01116889A EP01116889A EP1176314A2 EP 1176314 A2 EP1176314 A2 EP 1176314A2 EP 01116889 A EP01116889 A EP 01116889A EP 01116889 A EP01116889 A EP 01116889A EP 1176314 A2 EP1176314 A2 EP 1176314A2
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EP
European Patent Office
Prior art keywords
pressure
piston
valve
compression
displacement space
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.)
Granted
Application number
EP01116889A
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German (de)
English (en)
Other versions
EP1176314A3 (fr
EP1176314B1 (fr
Inventor
Wolfgang Prof. Dr.-Ing. Backé
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Individual
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Individual
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Publication date
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Publication of EP1176314A2 publication Critical patent/EP1176314A2/fr
Publication of EP1176314A3 publication Critical patent/EP1176314A3/fr
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Publication of EP1176314B1 publication Critical patent/EP1176314B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
    • 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means

Definitions

  • the invention relates to an apparatus and a method for compensation the compressibility of the hydraulic fluid in hydraulic drives with at least one displacement room.
  • Hydraulic fluid is compressible within certain limits, resulting in a load stiffness significantly reduced compared to mechanical drives leads: in the event of sudden pressure changes in the at least one Displacer are the known regulations too sluggish to pass through appropriate Supply or discharge of hydraulic fluid in the displacement space the desired target position together with a cylinder Displacement forming piston or a desired target speed to hold the piston.
  • DE 42 28 308 A1 describes the compensation of compressibility through piezo elements.
  • the piezo elements can withstand very high forces generate in no time, but the resulting paths are very short.
  • a piezo element itself is a spring. If it works against pressure, the path is further reduced as it is compressed under pressure. This has the consequence that in practice only minor Load changes that correspond to a maximum pressure change of 5 to 7 bar are compensated become. As a rule, however, there are pressure changes depending on the supply pressure required in the range of 100 bar and more. The in DE 42 28 308 control is therefore not suitable to the in the Practice requirements.
  • the object of the invention is a device and to specify a method which enables the load stiffness hydraulic drives can be increased reliably and within a few milliseconds to react to load changes in order to or to compensate for speed deviations of a hydraulic drive.
  • the invention is achieved by a device with the features of Claim 1 or of a method with the features of the claim 15.
  • Advantageous embodiments are the subject of the dependent Dependent claims.
  • the secondary claim 21 relates to one hydraulic drive with a compensation device according to the invention.
  • the volume flow resulting from the pressure increase calculated, the compression coefficient and the volume below Pressure is taken into account and represents the reference variable in the control loop
  • the compensation volumetric flow generated by the compensation piston is constantly compared with the setpoint (compression volume flow) and via the control circuit (three-point controller and fast control valves) tracked. The result is that exactly the volume of the working cylinder what is missing due to compression in the displacement space.
  • the drive cylinder remains largely in its position.
  • the compensation takes place over the entire pressure range up to the maximum load. It is both with controlled and with position-controlled systems effective. With position-controlled drives, the functions of the Position control and compressibility compensation.
  • the hydraulic drive in Fig. 1 consists of a cylinder 1 and a piston 2 guided therein, which separates two displacement spaces 3 and 4 from each other.
  • the cylinder piston drive is controlled with the continuous valve 6 in a closed position control loop, by measuring the piston travel X ist with a distance measuring device 7 and comparing it with the target value X soll .
  • the difference X nominal - X actual is the current error of the retracted position.
  • controller 9 This is modified by a controller 9 according to modern controller concepts, for example by generating a differentiating and / or integrating component which is fed to the continuous valve 6 via an amplifier element 10, which controls the piston-cylinder unit via lines 11 and 12 in this way that the error X should - X is made zero as quickly as possible.
  • the invention is intended to bring about a change in the Load F 5 of the piston 2 remains in its position or at one constant speed of the drive no drop in speed he follows.
  • a piston 15 is arranged in the cylinder 14 and is held in the middle by the springs 18 and 19.
  • the piston 15 separates two displacement chambers 16 and 17.
  • the pressure in chamber 3 of the hydraulic drive is measured via the pressure sensor 21 and passed on via the electrical line 22. Pressure oscillations of the pressure sensor are damped by the damper element 23.
  • the temporal pressure gradient is calculated in the differentiator 24.
  • the compression current Q Kompr can be calculated from the pressure gradient dp 1 / dt, which vanishes due to the pressure change in the displacement space 3 over time or becomes free when the pressure decreases.
  • V o is the p in the displacement chambers 3, 16, 17 under the pressure of 1 supernatant oil volume
  • E ö1 is the volume compression Koeffizienz the oil filling V o, whereby the elasticity of the surrounding cylinder 1 and 14 taken into account.
  • the oil filling V o is of the piston travel X is dependent
  • the compression modulus E ö1 is a function of the pressure P. 1 Both influences are included in the result for Q Kompr in block 25.
  • y ' is determined using a speed sensor 20 integrated in the piston chamber 17.
  • the path y of the piston 15 can also be measured and converted to the speed y 'by the differentiator 26.
  • the result of the difference formation Q Kompr - Q Ausgl is fed to a three-point controller 27. Is Q Compr greater than Q Equ.
  • the displacement chamber 17 is connected to the pressure source P via the line 29 via a very fast switching valve 28 with switching times of 1 to 2 milliseconds.
  • Piston chamber 4 is, the supply of a compensating volume flow is only too a displacement room necessary.
  • the three-point controller 27 causes that Switching valve 28 of the piston 15 moves in the negative y direction, and thus a corresponding compensation volume flow from room 17 and thus room 3 is discharged.
  • C is the total spring stiffness of the springs and a is the area of the piston 15.
  • the switching valve 30 can optionally be replaced by an increased play between the piston 15 and the cylinder 14, as a result of which the piston 15 is centered.
  • the device for increasing the dynamic load rigidity is on all types of cylinders applicable, not only to cylinders of the same area, as in FIG. 1.
  • Fig. 2 the application in a differential cylinder is shown. Also Plunger cylinders with only one displacement space can be equipped with it become. Fig. 2 shows two special features. The balance cylinder 14 with Piston 15 can be integrated directly into the cylinder cover 33 on one piston side become. In addition, instead of the 3/3 switching valve in the cylinder cover 28 in Fig. 1 two 2/2-way valves 31 and 32 are integrated. This are characterized by a very small design and extremely short switching times in the range of 1 ms.
  • Fig. 3 shows that the volume flow control loop for the compensating flow can also be carried out continuously.
  • the constant valve 36 is controlled by the difference between the compression current Q Kompr and the compensation current Q Ausgl via the blocks 34 and 35.
  • a compensation current Q compensation corresponding to the compression current Q Kompr is supplied to the displacement space 3 under pressure p 1 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
EP20010116889 2000-07-26 2001-07-11 Procédé et dispositif pour compenser la compressibilité dans des commandes hydrauliques Expired - Lifetime EP1176314B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2000136646 DE10036646A1 (de) 2000-07-26 2000-07-26 Vorrichtung und Verfahren zum Ausgleichen der Kompressibilität bei hydraulischen Antrieben
DE10036646 2000-07-26

Publications (3)

Publication Number Publication Date
EP1176314A2 true EP1176314A2 (fr) 2002-01-30
EP1176314A3 EP1176314A3 (fr) 2004-01-07
EP1176314B1 EP1176314B1 (fr) 2006-02-15

Family

ID=7650431

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20010116889 Expired - Lifetime EP1176314B1 (fr) 2000-07-26 2001-07-11 Procédé et dispositif pour compenser la compressibilité dans des commandes hydrauliques

Country Status (2)

Country Link
EP (1) EP1176314B1 (fr)
DE (2) DE10036646A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006002566A1 (de) * 2006-01-18 2007-07-19 Eurocopter Deutschland Gmbh Hydraulikanlage

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009027070A1 (de) * 2009-06-22 2010-12-23 Zf Friedrichshafen Ag Ansteuerschaltung für einen pneumatischen oder hydraulischen Aktuator

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3805530A (en) * 1971-07-29 1974-04-23 Pacific Press & Shear Corp Compensated series hydraulic system
DE3017080C2 (de) * 1980-05-03 1985-11-28 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Elektrohydraulischer Stellantrieb
JPS6432081A (en) * 1987-07-28 1989-02-02 Tokyo Keiki Kk Pressure flow controller for variable delivery pump
DE4228308A1 (de) * 1992-08-26 1994-03-03 Rexroth Mannesmann Gmbh Hydraulische Antriebsvorrichtung, insbesondere für eine Werkzeugmaschine

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006002566A1 (de) * 2006-01-18 2007-07-19 Eurocopter Deutschland Gmbh Hydraulikanlage
US7581486B2 (en) 2006-01-18 2009-09-01 Eurocopter Deutschland Gmbh Hydraulic system
DE102006002566B4 (de) * 2006-01-18 2014-11-13 Eurocopter Deutschland Gmbh Hydraulikanlage

Also Published As

Publication number Publication date
EP1176314A3 (fr) 2004-01-07
DE50108932D1 (de) 2006-04-20
DE10036646A1 (de) 2002-02-14
EP1176314B1 (fr) 2006-02-15

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