EP1264109A1 - Dispositif pour commander un actionneur hydraulique - Google Patents

Dispositif pour commander un actionneur hydraulique

Info

Publication number
EP1264109A1
EP1264109A1 EP01903764A EP01903764A EP1264109A1 EP 1264109 A1 EP1264109 A1 EP 1264109A1 EP 01903764 A EP01903764 A EP 01903764A EP 01903764 A EP01903764 A EP 01903764A EP 1264109 A1 EP1264109 A1 EP 1264109A1
Authority
EP
European Patent Office
Prior art keywords
controller
valve
pressure
valve piston
supplied
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.)
Withdrawn
Application number
EP01903764A
Other languages
German (de)
English (en)
Inventor
Alexander Meisselbach
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bosch Rexroth AG
Original Assignee
Mannesmann Rexroth AG
Bosch Rexroth AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Mannesmann Rexroth AG, Bosch Rexroth AG filed Critical Mannesmann Rexroth AG
Publication of EP1264109A1 publication Critical patent/EP1264109A1/fr
Withdrawn legal-status Critical Current

Links

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
    • 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
    • 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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/0401—Valve members; Fluid interconnections therefor
    • F15B2013/0409—Position sensing or feedback of the valve member

Definitions

  • the invention relates to a device for controlling a hydraulic actuator with an electrically operated valve, which controls the pressure medium flow to and from the actuator, with a controller for the position of the valve piston which is integrated in the housing of the valve or held in a separate housing on the latter ,
  • a position sensor for the position of the valve piston converts the position of the valve piston into an electrical signal, which is fed to a position controller as an actual value.
  • the regulator for the position of the valve piston is arranged in a separate housing which is held on the housing of the valve.
  • the controller ensures that the valve piston follows a position setpoint that the controller uses as an electrical input variable, e.g. B. is supplied in the form of a voltage.
  • the position of the valve piston determines the size of the passage cross section of the valve.
  • the position of the valve piston is therefore a measure of the passage cross section of the valve. With such valves, the pressure medium flow to and from an actuator, for. B. a hydraulic cylinder controlled.
  • the pressure of the pressure medium supplied to the actuator is recorded, converted into an electrical quantity and this is taken into account in control circuits arranged separately from the valve. linked to a setpoint for the controller integrated in the valve for the position of the valve piston.
  • the invention has for its object to 'create a device of the type mentioned, in which additional axis functionality is integrated.
  • the invention enables the delivery of pre-tested units to which only the hydraulic and electrical supply lines have to be connected during installation and which are to be connected to a higher-level control system via signal lines.
  • the smaller of the manipulated variables for pressure and quantity is fed to the controller for the position of the valve piston as a setpoint.
  • the minimum value selection circuit provided for this purpose is also arranged in the same housing as the controller for the position of the valve piston.
  • a corresponding external manipulated variable can also be supplied to the minimum value selection circuit.
  • Controller allows the parameters of the controller to be set in a simple manner using digital control signals.
  • the functions of several controllers can be implemented by a microprocessor.
  • the use of digital controllers enables simple adjustment of the parameters by external control signals from a higher-level control, e.g. B. a machine control. If the control signals are supplied via a fieldbus system, little effort is required for the cabling between the higher-level control and the hydraulic valve.
  • a division of the electrical components of the Analog controller for the position of the valve piston on a first board and the components of the other controllers as well as the components for the bus coupling on a second board allows the electronics to be easily adapted to different tasks, since only the second board has to be selected according to the specific task ,
  • FIG. 1 shows the view of a hydraulic valve with a housing held thereon for receiving an electrical circuit in a partially sectioned representation
  • Figure 2 shows the block diagram of an inventive device for controlling a hydraulic
  • Actuator with an actuator connected to the device.
  • FIG. 1 shows the view of a device 10 for controlling a hydraulic actuator.
  • a housing 12 is held on a hydraulic valve 11.
  • the valve 11 is shown seen from the side.
  • the valve 11 controls the pressure medium flow from a pump to a hydraulic actuator and from there back to a tank.
  • the actuator is a hydraulic cylinder, which is shown in FIG. 2 as a synchronous cylinder 13.
  • a differential cylinder or a can also be used as an actuator Serve hydraulic motor.
  • the hydraulic connections of the valve 11 are designated P for the pump connection, T for the tank connection and A and B for the connections of the synchronous cylinder 13.
  • a displacement transducer 14 for position x of the valve piston projects into the housing 12.
  • the displacement transducer 14 converts the position x of the valve piston into an electrical signal xi, which is fed to a controller 15 shown in FIG. 2 as the actual value.
  • the components of the controller 15 are arranged on a first circuit board 16, which is held in the housing 12. Further components are arranged on a second circuit board 17, which is mechanically held on the first circuit board 16 via plug connections 18 and 19. 18 and 19 serve the connections of both -to electrically connecting the circuit board 16 with the circuit board 17 and for the mechanical connection of the boards' 16 and 17. This measure allows an easy adaptation of the inventive device 10 to various tasks by exchanging the board 17th
  • FIG. 2 shows the block diagram of the device 10 shown in FIG. 1 for controlling the synchronous cylinder 13.
  • the same reference numerals as in FIG. 1 are used for the same components.
  • the controller 15 for the position x of the valve piston of the valve 11 is supplied with the output signal xi of the displacement sensor 14 as the actual value and a setpoint value xs as input signals.
  • Controller 15 supplies the coils 11a and 11b of the valve 11 with the currents ia and ib, which serve as a manipulated variable and deflect the valve piston in accordance with the control deviation and the transmission behavior of the controller 15 such that the Valve piston assumes the position specified by the signal xs.
  • the connections A and B of the valve 11 are connected to the synchronous cylinder 13 via hydraulic lines 21 and 22, respectively.
  • a pressure sensor 23 detects the pressure in the area of the connection A of the valve 11 and feeds a signal pA corresponding to this pressure to a computing circuit 25.
  • Another pressure sensor 24 detects the pressure in the area of the connection B of the valve 11 and supplies the computing circuit 25 with a signal pB corresponding to this pressure.
  • the pressure sensors 23 and 24 are components of the device 10.
  • the arithmetic circuit 25 is supplied with the actual value xi of the position of the valve piston.
  • the arithmetic circuit 25 forms an actual pressure value pi from the weighted pressure difference of the signals pA and pB.
  • the actual pressure value pi is fed to a pressure regulator 26 together with a pressure setpoint ps.
  • the pressure regulator 26 forms a manipulated variable yp from these signals in accordance with its transmission behavior.
  • the manipulated variable yp, together with a manipulated variable yQ, which limits the amount of pressure medium supplied to the synchronous cylinder 13, is fed to a minimum value selection circuit 27. This circuit feeds the smaller of the signals supplied to the controller 15 as the setpoint xs.
  • the manipulated variable yQ can be the output signal of a quantity regulator 28 - as shown in FIG. 2 - or - if no quantity regulator is provided - a corresponding signal supplied to the device 10 from the outside.
  • the quantity controller 28 shown in FIG. 2 is supplied with an external quantity setpoint Qs and an actual quantity value Qi determined by the computing device 25 from the signals pA, pB and xi. So that the actual value of the position of the valve piston follows its setpoint as quickly as possible, the controller 15 is designed as an analog controller.
  • the pressure regulator 26 and - if present - the quantity regulator 28 are designed as microprocessor-controlled digital regulators. This makes it possible in a simple manner to set the parameters of the controllers 26 and 28 even during operation by means of external control signals.
  • the parameters are the gain factors KP, KD and KI, with KP the gain factor of the proportional component (P component), with KD the gain factor of the differentiating component (D component) and with KI is the gain factor of the integrating component (I component).
  • the control signals for the parameters are fed to the controllers 26 and 28 via electrical lines 31 and 32, respectively. If the utilization of the microprocessor permits, it can also take over the functions of the computing circuit 25 and the minimum value selection circuit 27.
  • the device 10 is coupled to a fieldbus 34 via an interface 33.
  • the interface 33 takes the data intended for the device 10 from the fieldbus 34 and converts it into a format suitable for processing within the device 10. Communication takes place via the fieldbus 34 between a higher-level machine control system (not shown in the figures) and further devices for controlling hydraulic actuators.
  • the components of the analog controller 15 provided for controlling the position of the valve piston are arranged on the circuit board 16.
  • the components of the digital controllers 26 and 28, the arithmetic circuit 25 and the minimum value selection circuit 27 and the interface 33 for coupling to the fieldbus 34 are arranged on the circuit board 17. Since the valve 11 with the controller 15 adapted to the properties of the valve 11 is always the same for the various applications, only the board 17 with the controllers for pressure and quantity adapted to the hydraulic actuator used in each case needs to be plugged onto the board 16.
  • FIG. 1 a separate housing 12 for receiving the boards 16 and 17, which carry the electronic circuits, is held on the valve 11.
  • the housing of the valve it is also possible to design the housing of the valve so that the circuit boards 16 and 17 carrying the electronic circuits are held directly in the housing of the valve. In this case it is advantageous to provide partitions in the housing of the valve which prevent pressure medium from reaching the area in which the circuit boards are held.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control Of Fluid Pressure (AREA)

Abstract

L'invention concerne un dispositif pour commander un actionneur (13) hydraulique, comprenant une soupape (11) actionnée électriquement, qui régule le flux de fluide sous pression arrivant à l'actionneur ou provenant de celui-ci. Un régulateur (15), servant au positionnement du piston de soupape, est intégré dans le corps de soupape ou bien monté sur celui-ci, dans son propre corps. Pour conférer en outre à ce dispositif une fonctionnalité axiale, on dispose un second régulateur (26) dans le même corps que celui où le régulateur (15) servant au positionnement du piston de soupape est disposé, lequel sert à la régulation de la pression ou du débit du fluide sous pression conduit à l'actionneur. De tels dispositifs sont utilisés, par exemple, dans des machines-outils.
EP01903764A 2000-03-15 2001-02-14 Dispositif pour commander un actionneur hydraulique Withdrawn EP1264109A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10012409A DE10012409A1 (de) 2000-03-15 2000-03-15 Einrichtung zur Steuerung eines hydraulischen Aktuators
DE10012409 2000-03-15
PCT/EP2001/001617 WO2001069093A1 (fr) 2000-03-15 2001-02-14 Dispositif pour commander un actionneur hydraulique

Publications (1)

Publication Number Publication Date
EP1264109A1 true EP1264109A1 (fr) 2002-12-11

Family

ID=7634692

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01903764A Withdrawn EP1264109A1 (fr) 2000-03-15 2001-02-14 Dispositif pour commander un actionneur hydraulique

Country Status (4)

Country Link
US (1) US20030038608A1 (fr)
EP (1) EP1264109A1 (fr)
DE (1) DE10012409A1 (fr)
WO (1) WO2001069093A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004024907A1 (de) * 2004-05-19 2005-12-15 Bosch Rexroth Aktiengesellschaft Maschinensteuerungs- und Regelungssystem für eine Spritzgießmaschine
ATE375318T1 (de) 2005-07-19 2007-10-15 Helmut Woerner Anschlag- und dämpfermodul
DE102007050892A1 (de) * 2007-10-24 2009-04-30 Siemens Ag Reglerstruktur für eine Hydraulikzylindereinheit mit unterlagertem Zustandsregler
US8301275B2 (en) * 2010-06-04 2012-10-30 Sti Srl Modified proportional integral derivative controller

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3818264A1 (de) * 1988-05-28 1989-12-07 Rexroth Mannesmann Gmbh Verfahren und vorrichtung zum steuern eines antriebszylinders
US5251148A (en) * 1990-06-01 1993-10-05 Valtek, Inc. Integrated process control valve
US5110087A (en) * 1990-06-25 1992-05-05 Borg-Warner Automotive Electronic & Mechanical Systems Corporation Variable force solenoid hydraulic control valve
US5500580A (en) * 1994-09-19 1996-03-19 Hr Textron Inc. Integrated compliance servovalve
US5593134A (en) * 1995-02-21 1997-01-14 Applied Power Inc. Magnetically assisted piezo-electric valve actuator
DE19530935C2 (de) * 1995-08-23 1999-06-17 Mannesmann Rexroth Ag Elektrische Stelleinheit
KR100212771B1 (ko) * 1995-10-09 1999-08-02 사쿠마 하지메 기계 구성체의 제어 장치
JPH10230539A (ja) * 1997-02-19 1998-09-02 Mitsubishi Heavy Ind Ltd 比例電磁制御弁の作動特性測定方法，油圧シリンダの作動制御方法および比例電磁制御弁の作動特性修正方法
US5883799A (en) * 1997-04-30 1999-03-16 Dana Corporation Method of operating an electronic controller to operate a plurality or output devices
GB9717713D0 (en) * 1997-08-22 1997-10-29 Ultronics Limited An electrohydraulic proportional control valve assembly
US6304977B1 (en) * 1997-10-07 2001-10-16 Festo Ag & Co. Field bus arrangement
FI108678B (fi) * 1998-06-17 2002-02-28 Neles Controls Oy Kenttälaitteiden hallintajärjestelmä
US6356811B1 (en) * 1998-10-13 2002-03-12 Honeywell Measurex Devron Inc. Control system for pneumatic actuators

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO0169093A1 *

Also Published As

Publication number Publication date
US20030038608A1 (en) 2003-02-27
DE10012409A1 (de) 2001-09-20
WO2001069093A1 (fr) 2001-09-20

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