EP2192308A2 - Procédé et dispositif de réglage d'admission de fluide pour un actionneur hydraulique - Google Patents

Procédé et dispositif de réglage d'admission de fluide pour un actionneur hydraulique Download PDF

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Publication number
EP2192308A2
EP2192308A2 EP09014790A EP09014790A EP2192308A2 EP 2192308 A2 EP2192308 A2 EP 2192308A2 EP 09014790 A EP09014790 A EP 09014790A EP 09014790 A EP09014790 A EP 09014790A EP 2192308 A2 EP2192308 A2 EP 2192308A2
Authority
EP
European Patent Office
Prior art keywords
pressure
speed
control
signal
coefficient
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
EP09014790A
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German (de)
English (en)
Other versions
EP2192308A3 (fr
EP2192308B1 (fr
Inventor
Albert Dr. Koeckemann
Gerold Liebler
Christian Lebert
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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Filing date
Publication date
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Publication of EP2192308A2 publication Critical patent/EP2192308A2/fr
Publication of EP2192308A3 publication Critical patent/EP2192308A3/fr
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Publication of EP2192308B1 publication Critical patent/EP2192308B1/fr
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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
    • 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
    • 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
    • F15B9/04—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 varying the output of a pump with variable capacity
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • 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
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • 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
    • F15B2211/6333—Electronic controllers using input signals representing a state of the pressure source, e.g. swash plate angle
    • 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
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6656—Closed loop control, i.e. control using feedback

Definitions

  • the invention relates to a method and a control device for controlling a pressure medium supply for a hydraulic actuator.
  • an electric motor drives a pump, which supplies the cylinder with a hydraulic pressure medium according to a pressure / volume flow control.
  • a pump which supplies the cylinder with a hydraulic pressure medium according to a pressure / volume flow control.
  • a method for controlling a pressure medium supply for a hydraulic actuator of a -z.B. cyclic working - machine provided.
  • the actuator is supplied by a variable displacement pump with a pressure medium quantity, wherein the variable displacement pump in turn by a speed-controlled motor -. an electric motor - is driven.
  • a signal indicative of the pressure of the pressure medium quantity is fed back to a regulator for driving the variable displacement pump.
  • the controller has a comparator and a control amplifier. Parallel to this pressure control circuit, the motor is driven by a speed signal.
  • a speed profile for adjusting the speed of the electric motor can be created within a work cycle of the machine to form the speed signal, as is the case EP 1 236 558 B1 describes.
  • the electric motor is operated according to the determined speed profile. But it can also be a speed signal from a higher-level control loop or an external control can be specified.
  • the properties of the regulator amplifier of the pressure regulator are varied according to the speed signal.
  • the control quality of the controller can be left constant at different speeds. As a result, the deterioration of the control quality can be counteracted at reduced speed. Without the corresponding variation of the characteristics of the control amplifiers, the loop gain would also decrease at reduced speed. This may increase a permanent control deviation, or the damping of the control loop will be worse, causing disturbances that affect the control loop, more noticeable. By varying the characteristics of the control amplifier this is counteracted.
  • the gain of the variable gain amplifier is adjusted as a function of the rotational speed. With a change in the gain of the control amplifier and the loop gain is changed, whereby this can be kept substantially constant even at different speeds.
  • the gain of the variable gain amplifier is increased to leave the loop gain substantially constant.
  • disturbances at low speed do not lead to a much larger control deviation than at high speed.
  • the pressure regulator has a differentiating element with a coefficient KD for differentiating the signal, which indicates the pressure of the pressure medium quantity.
  • the coefficient KD of the differentiating element is set as a function of the rotational speed.
  • the coefficient of the differentiator is set to higher values to counteract a drop in damping at low speeds.
  • the method is particularly suitable in a plastic processing machine in which liquid plastic is injected into a mold.
  • Other applications may be presses, in particular press brakes. In such machines, the same operations are often repeated so that the pressure medium requirement is the same for each working cycle.
  • the invention also relates to a control device for controlling a pressure medium supply for a hydraulic actuator of a - eg cyclically operating - machine.
  • the actuator of one of a speed-controlled motor - for example, an electric motor, possibly, for example, an internal combustion engine, a diesel engine, a gasoline engine - powered variable displacement pump supplied with a pressure medium.
  • the pressure regulator for driving the variable displacement pump and a pressure transducer for converting the pressure of the pressure medium quantity into a feedback signal for the pressure regulator are provided.
  • the control device may also include a device for establishing a speed profile for adjusting the speed of the motor during a cycle of the machine and an adjuster for operating the motor according to the determined speed profile in the working cycles of the machine.
  • the speed of the motor can also be controlled and adjusted by means of a control device supplied speed signal.
  • the control device includes a control adjustment device for adjusting the characteristics of the pressure regulator in accordance with the speed signal. The control device thus makes it possible to leave the control quality substantially constant over a large speed range.
  • the pressure regulator comprises a comparator and a variable gain control amplifier, wherein the gain of the variable gain amplifier is adjusted in response to the speed signal. This adjusts the loop gain and thus also the control deviation. Preferably, the gain of the control amplifier is increased when reducing the speed.
  • the pressure regulator has a differentiating element with a coefficient KD for differentiating that signal which indicates the pressure of the pressure medium quantity.
  • the control adjusting device is set to adjust the coefficient of the differentiating element in response to the rotational speed signal.
  • the coefficient KD of the differentiator is set to higher values.
  • the invention also relates to an assembly of a control device according to the invention and an actuator whose supply is provided with a hydraulic pressure by means of the control device.
  • FIG. 1 shows an actuator of a production machine and the control used to provide hydraulic pressure means for this actuator.
  • Actuator 11 is a cylinder for a cyclical manufacturing machine that injects liquid plastic into a mold.
  • a duty cycle is divided into several consecutive sections of the cycle, which differ in terms of the required amount of pressure. Each of these sections is a work process. Operations include, for example, "close tool”, “inject plastic”, “open the tool”, “wait for a hold phase”, or the like.
  • variable displacement pump 13 conveys pressure medium into the line 16 from a tank 15, whereupon the hydraulic fluid in the line 16 has a pressure p.
  • the valve 17 is provided between the conduit 16 and the actuator 11. This valve 17 controls the volume flow from the variable displacement pump 13 to the cylinder 11 and from there back to the tank 15.
  • the valve 17 is electrically controlled by a higher-level control 25 with the signal u1, which is conducted via the line 27.
  • a Wegemessumformer 21 measures the position of the piston rod of the cylinder 11, converts this position into an electrical signal s1, which is output via the line 23 to the higher-level controller 25.
  • a control device which includes the means for controlling the pressure medium supply 10, the pressure transducer 40, the actuator 31, the transmitter 32, the frequency converter 33, the electric motor 14, the shaft 34 and the variable displacement pump 13 contains.
  • the device 10 receives from the higher-level controller 25 a setpoint for the pressure ps and a setpoint for the volume flow Qs.
  • the setpoints ps and Qs correspond to a pressure volumetric flow profile P (t) / Q (t) stored in the higher-level controller.
  • the device 10 receives a cycle start signal yt0 indicating when a new cycle begins.
  • the device 10 receives the signal pi from the pressure transducer 40, which converts the pressure p in the line 16 into a corresponding electrical signal pi.
  • the device 10 outputs a desired value for the rotational speed ns and an output signal for the delivery volume yVF.
  • the signal ns receives the frequency converter 33, which accordingly drives the electric motor 14 at a frequency f such that the rotational speed n of the electric motor 14 is equal to the target value for the rotational speed ns.
  • the rotational movement of the electric motor is transmitted via the shaft 34 to the variable displacement pump 13.
  • the speed n of the electric motor 14 is not measured and fed back, the speed n is thus controlled in the open circuit.
  • the actuator 31 receives the output signal yVF from the device 10 and controls the delivery volume VF of the variable displacement pump 13.
  • the transducer 32 outputs an electrical signal indicative of the actual value of the delivery volume VFi of the variable displacement pump 13.
  • the device 10 includes a pump controller 41, a motor controller 42, a multiplier 44, and a calculator 45.
  • the multiplier 44 is implemented as a proportional element with a controllable gain KQ.
  • the arithmetic unit 45 receives as an input signal the setpoint value for the speed ns and outputs its reciprocal value to its output as the signal KQ.
  • the multiplier receives at its inputs the setpoint for the volume flow QS and the signal KQ.
  • the multiplier 44 thus forms from the desired value QS for the volume flow to be supplied to the cylinder, taking into account the rotational speed n of the electric motor 14, a target value VFs for the delivery volume of the variable displacement pump 13.
  • the pump regulator 41 receives as input the actual value for the delivery volume VFi, the actual Value for the pressure pi, the setpoint for the delivery volume VFs and the setpoint for the pressure ps and outputs at its output the output signal for the delivery volume yVF.
  • FIG. 2 shows details of the pump controller 41 FIG. 1 ,
  • the pressure regulator 41 has a first summation element 48, a second summation element 51, a delivery volume regulator 49, a pressure regulator 52 and a minimum value selection element 50.
  • the first summation element 48 forms from the desired value VFs and the actual value VFi a control difference, which is supplied to the delivery volume controller 49 as an input signal.
  • the output signal of the delivery volume controller 49 is added to the minimum value selection element 50 as the first input signal.
  • the second summation element 51 receives the desired value for the pressure ps and the actual value for the pressure pi, from which the control difference for the pressure is formed by subtraction and output to the pressure regulator 52.
  • the pressure regulator 52 outputs as an output the value yp to the minimum value selector 50 which receives the value yp at its second input.
  • the minimum value selector element 50 selects the smaller of the two input signals yVF1 and yp and forwards this minimum value as manipulated variable yVF for the delivery volume VF to the actuator 31. Both the regulation of the delivery volume VF and the regulation of the pressure p takes place with the aid of adjusting the delivery volume of the variable displacement pump 13.
  • the transmission characteristics of the delivery flow regulator 49 and the pressure regulator 52 each have a proportional and a differential component.
  • a pressure / volume flow profile p (t) / Q (t) for the pressure medium supply of the cylinder 11 is stored.
  • a speed profile n (t) for the electric motor is as in the document EP 1 236 558 B1 created.
  • a speed profile n (t) is created for the electric motor 14, which specifies the course of the rotational speed n during a production cycle.
  • the electric motor 14 is first operated at the constant speed nmax.
  • the control of the cylinder 11 supplied volume flow is carried out solely by the pump controller 41.
  • the pump controller 41 ensures that the variable displacement pump 13 to the cylinder 11, the volume flow which is required to the by the pressure / flow profile p (t) / Q (t) specified values. This volume flow is also referred to below as the volume flow requirement QA.
  • nmax the highest speed with which the electric motor 14 is to be operated in the production cycles. This speed is usually the rated speed of the electric motor 14th
  • the optimization process has a series of learning cycles in which the variable displacement pump 13 is driven at the constant speed nmax.
  • a first learning cycle the duration of a manufacturing cycle is determined by measuring the time between two cycle start pulses. From the duration of a production cycle and the number of memory locations available in the motor controller 42 for storing values, the time interval ⁇ t for the detection of the values to be stored is determined.
  • the actual values VFi of the delivery volume are detected at a distance of ⁇ t and stored in the engine control unit 42. The values stored there form a delivery volume profile VFI (t).
  • the actual values pi of the pressure are detected and stored in the engine controller 42.
  • the stored values form a pressure profile pi (t).
  • a volume flow demand profile QA (t) is obtained.
  • a speed profile n (t) is obtained. It is advisable to choose the constant value so that it is close to the nominal value of the delivery volume VF of the variable displacement pump 13.
  • the constant value is chosen such that it corresponds to approximately 90% of the nominal value of the delivery volume VF of the variable displacement pump 13. This value is denoted below by VFgO.
  • the stored value of the volume flow demand QA can be replaced by the speed value n calculated from it. If one controls the speed of the electric motor 14 in accordance with the speed profile n (t) determined in this way, the delivery volume VF of the variable displacement pump 13 would adjust to the value VFgO under ideal conditions. In practice, however, the delivery volume VF of the variable displacement pump 13 is not constant during a cycle, in particular because the speed n of the electric motor 14 can not be changed as fast as the delivery volume VF of the variable displacement pump 13. In addition, in particular with regard to the lubrication of Variable 13, the cooling of the electric motor 14 and the maximum torque of the electric motor 14 its speed n may not be arbitrarily reduced.
  • FIG. 3 shows details of the pressure regulator 52 in a schematic overview.
  • the pressure regulator 52 includes a differentiating member 521, a proportional member 522, a summing member 524, and an adjusting block 523.
  • the proportional member 522 receives the control difference for the pressure from the second summing member 51 of the pressure regulator 41. This control difference is multiplied by the coefficient Kp and the result of this Multiplication to a first input of the summation 524 out.
  • the differentiator 521 receives the actual value for the pressure pi, which is derived in the differentiator 521 and multiplied by the factor KD, which is the coefficient of the differentiator 521.
  • the result of this multiplication is fed to the second input of the summation element 524.
  • the summer 524 subtracts the value at its second input from the value at its first input and outputs the result of this difference as the output yp.
  • the adjustment block 523 receives at its input the setpoint for the speed ns and outputs at its outputs values with which the coefficients Kp and KD are varied.
  • a value table is stored in the adjustment block 523, which indicates how large the factors Kp and KD are in the different value ranges of the setpoint speed ns. For example, in a speed range of 600 to 800 rpm, the factor Kp is set twice as large as in the speed range of 1300 to 1500 rpm. Accordingly, the factor KD is increased in the low speed range in comparison to the high speed range.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
EP09014790.1A 2008-11-29 2009-11-27 Procédé et dispositif de réglage d'admission de fluide pour un actionneur hydraulique Active EP2192308B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008059659 2008-11-29

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EP2192308A2 true EP2192308A2 (fr) 2010-06-02
EP2192308A3 EP2192308A3 (fr) 2014-05-07
EP2192308B1 EP2192308B1 (fr) 2015-07-08

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EP (1) EP2192308B1 (fr)
DE (1) DE102009055979A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103846152A (zh) * 2014-03-19 2014-06-11 湖州市千金宝云机械铸件有限公司 立式粉碎机

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT11578U1 (de) 2010-03-26 2011-01-15 Engel Austria Gmbh Hydraulische antriebseinheit für eine spritzgiessmaschine
JP2024530469A (ja) * 2021-08-05 2024-08-21 イリノイ トゥール ワークス インコーポレイティド 材料試験用油圧パワーユニット

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4335403C1 (de) * 1993-10-18 1994-12-15 Karl Hehl Hydraulikeinrichtung
DE10110398A1 (de) * 2001-03-03 2002-09-26 Mannesmann Rexroth Ag Verfahren zur Regelung der Druckmittelzufuhr zu einem hydraulisch betätigten Aktor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103846152A (zh) * 2014-03-19 2014-06-11 湖州市千金宝云机械铸件有限公司 立式粉碎机

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Publication number Publication date
EP2192308A3 (fr) 2014-05-07
EP2192308B1 (fr) 2015-07-08
DE102009055979A1 (de) 2010-06-02

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