CN102483079B - Position measuring device for capturing the position of at least one actuator of a fluidic system without a position sensor - Google Patents
Position measuring device for capturing the position of at least one actuator of a fluidic system without a position sensor Download PDFInfo
- Publication number
- CN102483079B CN102483079B CN201080024909.0A CN201080024909A CN102483079B CN 102483079 B CN102483079 B CN 102483079B CN 201080024909 A CN201080024909 A CN 201080024909A CN 102483079 B CN102483079 B CN 102483079B
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- CN
- China
- Prior art keywords
- pressure sensor
- sensor apparatus
- volume flowrate
- measurement device
- actuator
- Prior art date
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- 239000012530 fluid Substances 0.000 claims abstract description 38
- 238000005259 measurement Methods 0.000 claims abstract description 25
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 5
- 230000035939 shock Effects 0.000 claims description 2
- 230000002123 temporal effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002277 temperature effect Effects 0.000 description 1
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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
- F15B15/2838—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT with out using position sensors, e.g. by volume flow measurement or pump speed
-
- 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
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load 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
- F15B2211/632—Electronic controllers using input signals representing a flow rate
- F15B2211/6326—Electronic controllers using input signals representing a flow rate the flow rate being an output member flow rate
Abstract
It proposes a kind of for obtaining the position-measurement device of the position of at least one executive item (19) of fluid system (10) in the case where position-sensor-free arrangement, wherein, at least one is provided with for controlling the control valve for fluids (12) of fluid system (10). Connecting in the intake line (13) to fluid system (10) has volume flow and pressure sensor apparatus (17), is directly connected with controller (18). Controller (18) has for according to relationship formula (I)
Come calculate executive item (19) position x device.
Description
Technical field
The present invention relates to when position-sensor-free for obtaining the position-measurement device of the position of at least one actuator (Stellglied) of fluid system.Known and be indispensable for process control with variant miscellaneous for controlling the position transducer of the motion in fluid system, especially clutch release slave cylinder and stroke measurment system.Under certain conditions, such as at very high temperatures, the use of position transducer and stroke measurment system is very problematic and is that expense is many.Even if there is not high temperature, temperature transducer and stroke measurment system embody cost factor, and it is especially requiring it is not that too Gao Shiying is held low as far as possible for measuring accuracy.
Background technique
Known by file DE 103 55 250 B4, arrange a kind of to the volume flowrate in the intake line of clutch release slave cylinder and pressure sensor apparatus.But it is not used in the position acquisition of piston, but determine by measured force value and volumetric flow units are used for leakage compared with reference value.In order to determine to leak, additionally need end position switch.
Summary of the invention
The object of the present invention is to provide a kind of position-measurement device of position of at least one actuator for determining fluid system, position transducer or stroke measurment system can be abandoned wherein.
This object is realized by the position-measurement device of the feature with claim 1.
According to position-measurement device of the present invention, especially there is this advantage, each position measurement sensor or stroke measurment system can be abandoned and directly can determine (multiple) position by obtaining flow or volume flowrate and pressure.So sensing device does not need to arrange along the travel paths of actuator, but can be arranged in in the intake line of fluid system, be namely also arranged in outside, wherein, the position of geometry is variable.This makes the variable geometric layout that can carry out this assembly when less wiring expense.Cost for position acquisition can be reduced by being replaced position transducer or stroke system by more cheap volume flow sensor and pressure transducer.
Fluid system is especially pneumatic system, and it utilizes pressurized air to run.
By the measure enumerated in the dependent claims, favourable improvement project and the improvement of position-measurement device illustrated are in claim 1 possible.
Volume flowrate and pressure sensor apparatus are configured to measurement module, have especially turned out to be particularly advantageous for Knockdown block (Anbaumodul) or setting-in module (Einbaumodul).This module can be arranged in fluid system place or fluid system in a straightforward manner, or is arranged in a variable manner at least one control valve place or control valve.
If fluid system has at least one fluid actuated actuator (Aktor) or it is made up of at least one fluid actuated actuator, so volume flowrate and pressure sensor apparatus are arranged in a place in the lid of actuator or one in an advantageous manner, or are arranged in its outside.
If multiple control valve forms valve group (Ventilbatterie), so it can be provided with one or be provided with multiple volume flowrate and pressure sensor apparatus aptly, especially in modular form.
Volume flowrate and pressure sensor apparatus also advantageously can be associated with the multiple fluid actuated actuator as fluid system.When the controller device had for the measurement signal obtained of volume flowrate and pressure sensor apparatus and correspondingly handled actuator being associated in time makes to utilize volume flowrate and pressure sensor apparatus can obtain the position of the actuator of multiple actuator, so first it be proved to be particularly advantageous.
At least one fluid actuated actuator such as relates to a kind of Linear actuator (Linearantrieb), such as, relate to a kind of clutch release slave cylinder, or relates to a kind of rotating driver.
Accompanying drawing explanation
Embodiments of the invention are shown in the drawings and set forth in detail in ensuing explanation.Wherein:
Fig. 1 shows the schematic view of the clutch release slave cylinder controlled by control valve, and wherein, volume flowrate and pressure sensor apparatus are arranged into in the intake line of clutch release slave cylinder,
Fig. 2 show in two modular volume flowrates at valve group place and the layout of pressure sensor apparatus and
Fig. 3 shows the layout of volume flowrate in the cylinder cap of clutch release slave cylinder and pressure sensor apparatus.
Embodiment
In the embodiment schematically shown in FIG, fluid operating cylinder 10 is controlled via valve assembly 12 by the pressure source 11 with pressure P as the example of fluid system, relate to 53 logical valves wherein or relate to two independent valves, it is switched to in two intake lines 13,14 of two chambers of fluid operating cylinder 10.Throttle non-return valve 15,16 is switched in two intake lines 13,14, and throttle non-return valve 15,16 is suitable design proposal, but is not that pressure is required.In addition, in one that is configured to that the volume flowrate of measurement module and pressure sensor apparatus 17 be switched in two intake lines 13, measured the volume flow Q being guided by the corresponding active chamber to clutch release slave cylinder 10 or lead back by volume flowrate and pressure sensor apparatus 17
nand corresponding pressure p.
The measured value Q of volume flowrate and pressure sensor apparatus 17
nbe fed to controller 18 with p, it can be configured to outside control centre or the control gear for association separately.This conveying can cable connection ground or also can wirelessly realize.In this controller 18, from measured value Q
nwith p according to relation
The corresponding position x being used as the piston of actuator 19 of evaluation work cylinder 10.At this, A be the actuator 19 i.e. piston of clutch release slave cylinder 10 can the area of compression shock, and Q
kbe compression flow, it is according to relation
Q
K＝V·dp/dt
Be changing into ratio with actuator volume and pressure, wherein, V is volume, and it is by dead center volume (i.e. the volume of pipeline, flexible pipe etc.) and depend on that the volume of cylinder of stroke is formed.K
p1and K
p2for depend on pressure to volume flow Q
nwith compression flow Q
kcorrection factor.These correction factors consider current pressure and temperature effect/thermal effect, and it is considered together with polytropic coefficient (Polytropenkoeffizient).This coefficient is automatically determined by the size of the translatory velocity of cylinder, pressure change and pressure.The positional value x calculated is drawn by the integration of velocity of piston, thus it is also in a straightforward manner thus by abandoning integration to obtain.
Not only by Available volume flow and pressure sensor apparatus 17 during during associated intake line 13 incoming pressure medium but also at head pressure medium.Realize during fluid input if measured, then two correction factors are considered as positive value aptly.When measuring during fluid expulsion, two correction factors are considered as negative value aptly.
Volume flowrate and pressure sensor apparatus 17 also can be switched in another (14) in two intake lines.Similarly there is the possibility correspondingly volume flowrate of oneself and pressure sensor apparatus are simultaneously switched in whole intake lines 13,14, so they are connected to one and same controller 18 place aptly.
Determined positional value x can show and/or store or be recorded in display unit and/or recording device 20.
Measure from the control signal for valve assembly 12, by this control signal initialization volume flowrate in method described before basis or when determining position according to relation illustrated before.Submit to confidence level by making pressure model and volume flowrate model to control, in order to pure end position is determined the method also can be made more reliable and more simplify.Such as, the measured value of pressure and volume flowrate is equalled zero when process starts.If actuator 9 leaves end position, so pressure and volume flowrate reach its maximum value.When arriving contrary end position by actuator 9, for pressure determination final value, and volume flowrate vanishing.
Utilize volume flowrate and pressure sensor apparatus 17 also can realize the diagnosis added, such as, obtain on time by the measuring pressure rise time via pressure transducer.
Figure 2 illustrates the valve assembly 21 being configured to valve group as fluid system, it is made up of many plate valves arranged adjacent one another (Plattenventil) 22 or other valve.Two in plate valve 22 are correspondingly equipped with volume flowrate and pressure sensor apparatus 17, and it is assembled into corresponding plate valve 22 place as Knockdown block.In principle, each volume flowrate and the pressure sensor apparatus 17 that also can be provided with oneself in plate valve 22, wherein, also can realize setting-in except assembling.Sensor cost can be reduced by the assessment of model in controller 18 or other control gear (also the control gear of the such as inside of valve island (Ventilinsel)) of control signal.These control signals are Already in valve group.Because seldom all valves are connected simultaneously, so according to current on-state, the measurement signal of volume flowrate and pressure sensor apparatus 17 is associated with the valve correspondingly activated of corresponding actuator or plate valve 22.Also only can be provided with the unique volume flowrate for all valves or plate valve 22 and pressure sensor apparatus 17, it is arranged in common fluid delivery pipeline for this reason.The same accessible site of corresponding electronic evaluation means (Auswerteelektronik) with switch matrix (Schaltmatrix) is in valve group.According to application, the variable amounts of volume flowrate and pressure sensor apparatus 17.When only interested in end position, for the rough conclusion in end position also can only evaluation volume flow measurement signal, wherein, so pressure obtain or the pressure transducer that comprises in the module optional.
Show the part area of the fluid operating cylinder 10 of the piston as actuator 19 with it in figure 3 enlargedly.Clutch release slave cylinder 10 has cylinder sleeve 23, and it is closed by lid 24 at shown terminal area place.Volume flowrate and pressure sensor apparatus 17 as setting-in module integration in the lid 24 being especially configured to cylinder cap.To this alternatively, it also can be used as module assembled in the outside at lid 24 place or the outside at cylinder sleeve 23 place.In an embodiment, fluid operating cylinder is shown as fluid system.But the present invention also can be applicable on other the actuator as fluid system, and wherein, fluid system can have multiple actuator or clutch release slave cylinder.
As implement, object of the present invention is by using volume flowrate and the indirectly position acquisition of pressure sensor apparatus in fluid system or actuator (as driver, cylinder etc.).At this, advantage is the reduction of vulnerability to jamming, the minimizing of debugging cost and wiring expense and less maintenance cost.
Shown clutch release slave cylinder 10 has piston rod, but also can be configured to without piston rod., also can there is other fluid actuated actuator in the clutch release slave cylinder 10 shown by replacement, such as rotating driver, nut-cracking device cylinder (Krustenbrecherzylinder), hand-operating device or clamp device.
Claims (10)
1., for obtaining a position-measurement device for the position of at least one actuator (19) of fluid system (10) when position-sensor-free is arranged, it is with controller and with at least one for controlling the control valve for fluids (12 of described fluid system (10); 22), and with being switched to towards the volume flowrate in the intake line (13) of described fluid system (10) and pressure sensor apparatus (17), it is directly connected with described controller (18), and wherein said controller (18) has for according to relation
Calculate the device of the position x of described actuator (19), wherein, A is the area of the compression shock of described actuator (19), Q
nfor measured volume flowrate, K
p1and K
p2for depending on the correction factor of pressure, and Q
kfor depending on effective total volume V and depending on the compression flow of the temporal derivative of measured pressure p.
2. position-measurement device according to claim 1, is characterized in that according to Q
kthe compression flow of=Vdp/dt.
3. position-measurement device according to claim 1 and 2, it is characterized in that, described volume flowrate and pressure sensor apparatus (17) are switched between control valve described at least one (12,22) and described fluid system (10).
4. position-measurement device according to claim 1 and 2, is characterized in that, described volume flowrate and pressure sensor apparatus (17) are configured to measurement module.
5. position-measurement device according to claim 1 and 2, is characterized in that, described volume flowrate and pressure sensor apparatus (17) are arranged on control valve described at least one (12,22) place.
6. position-measurement device according to claim 5, is characterized in that, multiple control valve (22) forms valve group (21), and it is provided with at least one volume flowrate and pressure sensor apparatus (17).
7. position-measurement device according to claim 1 and 2, is characterized in that, described volume flowrate and pressure sensor apparatus (17) are associated with multiple actuator.
8. position-measurement device according to claim 7, it is characterized in that, described controller (18) has the device for being associated in time with correspondingly handled described fluid system by the measurement signal obtained of described volume flowrate and pressure sensor apparatus (17).
9. position-measurement device according to claim 4, is characterized in that, described volume flowrate and pressure sensor apparatus (17) are configured to Knockdown block or setting-in module.
10. position-measurement device according to claim 5, is characterized in that, described volume flowrate and pressure sensor apparatus (17) are arranged in control valve described at least one (12,22).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102009023168.4 | 2009-05-29 | ||
| DE102009023168A DE102009023168A1 (en) | 2009-05-29 | 2009-05-29 | Position measuring device for detecting the position of at least one actuator of a fluidic system without position sensor |
| PCT/EP2010/002973 WO2010136131A1 (en) | 2009-05-29 | 2010-05-14 | Position measuring device for capturing the position of at least one actuator of a fluidic system without a position sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102483079A CN102483079A (en) | 2012-05-30 |
| CN102483079B true CN102483079B (en) | 2015-06-17 |
Family
ID=42670512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201080024909.0A Active CN102483079B (en) | 2009-05-29 | 2010-05-14 | Position measuring device for capturing the position of at least one actuator of a fluidic system without a position sensor |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP2417364B1 (en) |
| CN (1) | CN102483079B (en) |
| DE (1) | DE102009023168A1 (en) |
| WO (1) | WO2010136131A1 (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2975089B1 (en) * | 2011-05-10 | 2013-04-26 | Manitou Bf | TELESCOPIC HANDLING ARRAY MEASURING DEVICE |
| US9506225B2 (en) | 2011-10-11 | 2016-11-29 | Volvo Construction Equipment Ab | Actuator displacement measurement system in electronic hydraulic system of construction equipment |
| DE102012202903A1 (en) * | 2012-02-27 | 2013-08-29 | Zf Friedrichshafen Ag | Method for determining an operating state of a form-locking switching element of a transmission device |
| DE102012222074A1 (en) | 2012-12-03 | 2014-06-05 | Pleiger Maschinenbau Gmbh & Co. Kg | METHOD AND DEVICE FOR INDICATING THE POSITION OF HYDRAULICALLY ACTUATED VALVES |
| DE102014004879B4 (en) | 2014-04-04 | 2022-02-17 | Festo Se & Co. Kg | Actuator, fluid drive system and method for determining a position of a working piston |
| DE102014004877B3 (en) * | 2014-04-04 | 2015-09-17 | Festo Ag & Co. Kg | Drive system and method for operating a drive system |
| DE102014004876B3 (en) * | 2014-04-04 | 2015-09-17 | Festo Ag & Co. Kg | Drive system and method for operating a drive system |
| DE102016122632A1 (en) * | 2016-11-23 | 2018-05-24 | Bizerba SE & Co. KG | Device for separating an article |
| CN107939785B (en) * | 2017-11-21 | 2019-09-20 | 中国兵器装备集团自动化研究所 | One kind being used for cylinder movement control method |
| DE102019211880A1 (en) * | 2019-08-07 | 2021-02-11 | Tadano Faun Gmbh | Method for determining a stroke path of a telescoping system, telescopic boom for a crane and crane |
| CN112855632B (en) * | 2019-11-12 | 2024-03-01 | 许继电气股份有限公司 | Charging device and electrode control system thereof |
| CN116892985B (en) * | 2023-09-11 | 2023-11-21 | 瑞星久宇燃气设备（成都）有限公司 | Flow metering method and system based on flow characteristics of pressure regulator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4220333A1 (en) * | 1992-06-22 | 1993-12-23 | Marco Systemanalyse Entw | Measuring piston displacement in hydraulic working cylinder - determining flow of hydraulic medium through cylinder from pressure difference measurement across choke |
| WO2001066954A2 (en) * | 2000-03-08 | 2001-09-13 | Rosemount Inc. | Piston position measuring device |
| DE10355250B4 (en) * | 2003-11-26 | 2005-09-01 | Festo Ag & Co. | Method for determining leaks of a pressure fluid in a pressure actuated machine using a mathematical equation relating pressure and flow volume and comparing actual values to a reference value |
| CN101061320A (en) * | 2004-11-19 | 2007-10-24 | 费斯托合资公司 | Diagnosis device for at least one pneumatic valve actuator arrangement |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001066956A2 (en) * | 2000-03-08 | 2001-09-13 | Rosemount Inc. | System for controlling hydraulic actuator |
-
2009
- 2009-05-29 DE DE102009023168A patent/DE102009023168A1/en not_active Ceased
-
2010
- 2010-05-14 EP EP10722606A patent/EP2417364B1/en active Active
- 2010-05-14 CN CN201080024909.0A patent/CN102483079B/en active Active
- 2010-05-14 WO PCT/EP2010/002973 patent/WO2010136131A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4220333A1 (en) * | 1992-06-22 | 1993-12-23 | Marco Systemanalyse Entw | Measuring piston displacement in hydraulic working cylinder - determining flow of hydraulic medium through cylinder from pressure difference measurement across choke |
| WO2001066954A2 (en) * | 2000-03-08 | 2001-09-13 | Rosemount Inc. | Piston position measuring device |
| DE10355250B4 (en) * | 2003-11-26 | 2005-09-01 | Festo Ag & Co. | Method for determining leaks of a pressure fluid in a pressure actuated machine using a mathematical equation relating pressure and flow volume and comparing actual values to a reference value |
| CN101061320A (en) * | 2004-11-19 | 2007-10-24 | 费斯托合资公司 | Diagnosis device for at least one pneumatic valve actuator arrangement |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2417364A1 (en) | 2012-02-15 |
| CN102483079A (en) | 2012-05-30 |
| WO2010136131A1 (en) | 2010-12-02 |
| DE102009023168A1 (en) | 2010-12-02 |
| EP2417364B1 (en) | 2013-03-20 |
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Address after: Germany Esslingen Patentee after: FESTO Co., Ltd Address before: Germany Esslingen Patentee before: FESTO AG & CO. KG |