CN116391082A - 用于运行液压的驱动器的方法 - Google Patents
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Abstract
Description
技术领域
本发明涉及一种用于运行液压的驱动器的方法,其包括在气缸中具有可定位活塞的液压的消耗器,以及计算单元和用于执行所述方法的计算机程序。
背景技术
电动液压轴是一种带有泵(其通常借助于电马达或驱动器运行)和液压气缸的液压的驱动器,其中电气或电子地调节例如气缸活塞的位置是可能的。这种电动液压轴例如用于所谓的深拉压机、注塑机、压铸机或者在其他成型技术机器中使用,同样如例如用于移动重载或机器部件那样。同样,可以代替泵例如使用压力介质存储器-或两者结合。在这种关系下,于是也可以说是液压的驱动器。
在这种(电动)液压轴中,通常设置交替的力-位置调节,即例如根据运行点进行力调节或位置调节。代替力调节,也可以设置压力调节,这由于力和压力之间的关系通过压力的作用面例如在液压气缸中是等效的。速度调节也可以代替位置调节。
通过这种调节,可以调节泵(或驱动的马达)的输送体积和/或转速。然而例如也可以使用调节阀装置来改变气缸的入口和/或出口中的液压液体的体积流量。
这些组件本身在其使用上有限制,例如最大压力、死区时间或调节率限制。为此,也可以在模型中描述限制和组件,并智能地将其纳入调节设计中。原则上,在这种液压系统中明显的非线性、死区时间和限制给调节和控制带来了问题。为了在控制和调节中考虑这些系统性限制,可以实时解决连续优化问题。在这里,尤其使用了模型预测调节(MPC)和强化学习(RL)的方法,但是这些方法在运行时间期间需要高计算能力。在应具有高带宽的系统中,这不再能够以合理的方式解决,至少对于高采样率而言不是这样。
发明内容
根据本发明,提出了具有独立专利权利要求的特征的用于运行液压的驱动器的方法以及计算单元和用于执行所述方法的计算机程序。有利的设计方案是从属权利要求和以下说明书的主题。
本发明涉及一种用于运行液压的驱动器的方法,该液压的驱动器包括在气缸中具有可定位活塞的液压的消耗器。它具有两个由活塞隔开的腔室,腔室在此例如用A和B表示。在此接口(A、B)之一分配给每个腔室。液压的驱动器尤其可以是液压轴。在此气缸在接口(例如A)处与压力介质存储器(在此尤其可以是低压存储器)和/或泵连接并且在另一个接口(例如B)处通过调节阀装置与压力介质槽连接。特别地在此可以将罐视为压力介质槽。然而也可以想到,通过相应的互连,第一侧(即腔室A)用作压力介质槽(再生线路)。
然后在使用基于模型的调节的情况下或在基于模型的调节的范畴下来调节活塞的位置或速度,其中预先给定调节装置的位姿。调节装置可以包括一个或多个可连续调节的阀。
在此优选使用液压的驱动器的逆路径模型(或逆系统模型),以便在使用调节装置的情况下设定、尤其是调设作用到活塞上的用于(制动)力的额定值。调节装置、例如连续阀在此特别是用于闭合的调节回路中,即阀中的滑块的设定也可以在闭合的(从属)调节回路中利用位置的实际值的反馈来进行。在逆模型中,实际输出参量(例如位置)用作模型输入,并且实际输入参量(例如体积流量或压力)用作模型输出。
利用这样的位置/速度调节,可以特别好且快速地对不同阶段或不同阶段之间的过渡作出反应,在例如铸造缸的运行中。此外,这种调节可以特别容易和快速地参数化。
为了实现作用到活塞上的力的额定值,连续阀的位姿的额定走向优选地通过规划液压的驱动器中的额定压力和连续阀的由此产生的位姿来推断。额定压力的规划在此尤其包括规划两个接口之间的压差或者在其中一侧测量压力并在另一侧规划压力。这由此代表一种预先控制或混合预先控制和调节。
参量(针对这些参量在调节中需要实际值)在此特别是活塞的位置和两个接口(A和B)侧的两个压力。这些可以例如借助于合适的传感器来检测。在基于模型的调节的范畴中,于是由活塞的位置也可求取其速度和加速度。从中于是又可以求取两侧上期望的流量(体积流量),然后相应地对其进行预先给定。在这种关系下,还应该提到的是,在基于模型的调节中借助系统的模型(这里如前所述特别是使用逆路径模型)可以对轨迹,即参量的走向(在这种情况下是位置)进行提前计算以及在线计算。在基于模型的调节中,调节参量也称为状态变量,并且可以考虑状态限制。对于模型的更详细描述,还参考了附图描述。
通过将其中一个接口(A侧)例如通过切换阀连接到压力介质存储器,在那里可以至少第一近似恒定压力输出或者根据冲程和速度进行预先计算,以便只有另一侧(B侧)的压力是相关的。由此轨迹规划考虑了所基于的机械微分方程,即特别是压力、位置和速度。压力额定值的规划在此可以限于B侧压力的规划,因为另一侧直接连接到压力介质存储器,并且由此对应于(至少接近)存储器压力。(在此通过在每个时间步骤的计算中测量A侧的压力来考虑动态影响)
在提到的预先给定中,特别是在连续阀的位姿的从属调节的范畴中,同样优选地进行预先控制,这可以根据连续阀的选择-直接控制的或先导的连续阀-而不同。在此,用于连续阀的主级的位置的额定值被有利地预先控制。在此所基于的系统例如可以描述为具有死区时间和状态限制的PT2调节系统。然后预先控制使用阀主级额定值作为输入。以这种方式可以特别好地考虑连续阀的动态。
对此需要注意的是,只要连续阀的内部状态处于不饱和,预先控制就有效;然而,总是试图尽可能长时间地控制连续阀处于饱和状态。在此饱和尤其意味着尽可能长时间地完全打开先导级。利用(通常的)调节,这只会在很短的时间内实现,因为超过最大打开值的调节信号会丢失。而利用预先控制,系统在不变得不稳定的情况下获得动态。由此可以足够准确地调节或预先给定B侧(或连续阀侧)的流量。
这里的一个特殊优势也在于,本身不平坦的系统仍然可以反转(利用逆路径模型)。具有液压气缸的系统原则上不能被视为平坦的,因为致动器力的产生(其包含在机械微分方程中)是不明确的,即可以利用两侧上的许多不同压力组合建立特定的压力差。然而,特别是在压铸线路(或通常利用开头提到的布线)的情况下,反转仍然起作用,因为气缸中压力是预紧的,并且压力介质存储器侧(A侧)的腔室直接通过例如切换阀取决于存储器压力。因此,在状态空间表示中,可以假设气缸的这个腔室中的压力是恒定的。因此,力形成仅仅取决于另一个腔室(B侧)中的压力。然而因为压力介质存储器(在一定范畴内)有自身的动态,并且由此压力实际上不是恒定的,所以还可以进行进一步的修正,以便使预先控制的误差最小化。通过例如在压力介质存储器一侧(A侧)的腔室中测量或计算压力,其附加地可以用于规划另一个腔室或另一侧(B侧)的压力。因此(B侧)的连续阀的阀打开或位姿可以用作唯一的调节参量(或调节元件)。
以这种方式因此可以利用系统和负载模型控制高度动态的过程、例如铝压铸的过程,即使所参与的系统组件的调节回路的动态不是最佳的。一切都不再受调节,而是(通过模型)部分地预先控制,更确切地说特别是考虑到已知的调节参量限制和动态限制。可以说,提供了一种可切换的规划滤波器算法,它能够实时规划状态轨迹,并且特别是考虑了气缸的压力预紧、存储器压力和调节元件(即连续阀)的死区时间/调节动态。
此外,可以通过上述假设和所基于的系统模型的线性化来实现基于平坦度的预先控制调节,其允许剩余的误差动态足够小。由此以使用尽可能少的查找表或曲线进行可理解的参数化。附加地由此可以显著改进更大和更小气缸单元的开发,因为所基于的方式(其例如在软件中表示)基本上保持不变并且只有模型参数可以改变或必须改变。
另一个优点是可以比以前明显更动态地控制阀。只要阀处在小信号范围内,操控时间就可以减半。不平坦的系统仍然可以经由预先控制通过所提出的方法或其中进行的匹配来控制。
补充地,在借助液压的驱动器的模型进行监控的范畴下,例如还可以将参量的特定值与相应的测量值进行比较,这可以作为“状态监控”进行。此外,还可以借助于可变的变速器传动比提高效率和精度。
根据本发明的计算单元、例如液压轴的控制器特别是在编程技术方面设立用于执行根据本发明的方法。
以具有用于执行所有方法步骤的程序代码的计算机程序或计算机程序产品的形式实施根据本发明的方法也是有利的,因为这导致特别低的成本,特别是如果实施的控制器还用于其他任务并且因此本身就存在。用于提供计算机程序的合适的数据载体尤其是磁的、光的和电的存储器、例如硬盘、闪存、EEPROM、DVD等。还可以通过计算机网络(因特网、内联网等)下载程序。
本发明的其它优点和设计方案从说明书和附图中得出。
不言而喻,在不脱离本发明的范畴的情况下,上述和下文仍将解释的特征不仅可以在相应说明的组合中,而且可以在其他组合中或单独使用。
附图说明
本发明借助实施例在附图中示意性地示出并且在下面参考附图详细描述。
图1示意性地示出了适合于执行根据本发明的方法的液压的驱动器,
图2示意性地示出了在优选实施方式中的根据本发明的方法的流程,
图3示意性地示出了适合于执行根据本发明的方法的液压的驱动器的第二实施方式,以及
图4示意性地示出了适合于执行根据本发明的方法的液压的驱动器的第三实施方式。
具体实施方式
图1中示意性地示出了液压的驱动器100,在该液压的驱动器中可以执行根据本发明的方法,这也将在下面进行解释。当前液压的驱动器100具有两个压力介质存储器110和112,其中压力介质存储器110尤其是低压存储器(例如具有低于300bar的压力、例如在170bar和200bar之间),压力介质存储器112尤其是高压存储器(具有例如大于400bar的压力)。
此外,压力介质存储器110、112可以与液压的消耗器130连接,液压的消耗器当前是具有可定位的活塞134的气缸132。活塞或参考点的位置在那里用x表示。例如负载136可以借助于活塞移动。气缸132可以在接口A处通过构造为切换阀的阀144与压力介质存储器110(低压存储器)连接并且通过连续阀146与压力介质存储器112(高压存储器)连接。不言而喻,在运行期间优选仅连接两个压力介质存储器中的一个压力介质存储器,其中当前特别是考虑压力介质存储器110(低压存储器)的连接,那就在打开切换阀144时。
此外,气缸132在接口B处通过连续阀140与用于液压流体的罐120连接。连续阀140的滑块的位姿用y表示。同样,气缸132在接口B处可以通过连续阀142与接口A连接。然而,在当前情况下,应该特别考虑所示的情况,在该情况中连续阀142关闭。
然而,原则上例如通过适当切换或转换所述阀可以实现用于液压的驱动器100的运行的不同阶段的不同布线,如例如在铝压铸的范畴下使用的阀那样。
在气缸132中或活塞134上,A侧的活塞面用AA表示,并且环形的B侧的活塞面用AB表示。A侧(在活塞空间中)的压力为pA并且B侧(在环形空间中)的压力为pB。流入或流出气缸132的输送流或流量在A侧用QA表示并且在B侧用QB表示。
阀140、142、144和146例如可以通过构造为控制单元的计算单元150来操控。液压的驱动器100因此可以用作液压轴。
图2中示意性示出了在优选实施方式中根据本发明的方法的流程。具有基于平坦度的预先控制210的状态调节器210用于调节活塞的位置x,状态调节器可以例如在计算单元150上实施并且状态调节器用于液压的驱动器100的逆模型或路径模型200。在此确定用于状态参量(额定轨迹)的额定值,状态参量在此特别是包括活塞的位置x、还包括其时间导数(速度)和压力pA和/或pB。这些被传送到状态调节器210和预先控制220。在此然后由用于位置x的额定值求取用于连续阀140的位置y的值。
在所提到的轨迹规划的范畴下,用于活塞的位置x的额定值例如以n阶被低通滤波,由此然后获得额定值的信号的n阶导数。于是例如这包括速度压力p-这里如前所述仅考虑B侧的压力,因为A侧的压力可以假设为恒定(但也可能有两个压力)-可以由速度和加速度确定。优选这样选择滤波器参数,使得目标系统(液压的驱动器的)的动态可以通过现有的调节能量(来自压力介质存储器)来实现。
一旦于是可以根据系统的逆模型200确定正确的调节参量y(连续阀的位姿)-借助于体积流量方程,就可以借助B侧的额定压力例如确定B侧的用于体积流量QB的额定值,从中又可以确定用于位姿y的额定值-系统可以这样被控制,从而可以以非常小的偏差跟踪位置。由于系统的死区时间导致的相移被保留。
该位置y在从属调节的范畴下实施,在其中考虑了先导级140.1和主级140.2,由此产生用于活塞的力F和速度的实际值,其又得出用于位置的实际值xist。在从属调节的范畴下同样进行预先控制,更确切地说在主级140.2的位姿或位置中。
图3和4关于根据本发明的方法的流程与图1没有区别。图3和4仅示出了高压存储器112的替代变型,因此附图标记基本上是相同。图3和4中示意性示出的液压的驱动器与图1中示出的液压的驱动器的不同之处在于,代替高压存储器112,使用增压器152-也称为倍增气缸-其例如实施为差动气缸。这种增压器152的结构是已知的,因此不需要进一步解释。在此需要另外的低压存储器111,另外的低压存储器可以通过存储器截止阀146、148与增压器-压力室连接,以便增压器-压力室在与低压存储器111连接时朝气缸132的支撑方向张紧。
调节阀装置分配给增压器152和气缸132,其与图1中的调节阀装置(它被分解成两个可以相互独立地操纵的连续阀140、142)的不同之处在于,在增压器的出口中布置了另外的连续阀146、148。在活塞空间中压力形成时止回阀143(其例如也可以实施为逻辑阀)确保活塞空间132至低压存储器110的快速关闭。
压力形成的调节通过连续阀146实现,在图3中布置在增压器的出口中并且在图4中作为另外的变型布置在增压器152的入口中。
Claims (13)
2.根据权利要求1所述的方法,其中,使用液压的驱动器(100)的逆路径模型(200),以便在使用连续阀(140)的情况下设定、特别是调设作用到活塞上的力的额定值。
3.根据权利要求1或2所述的方法,其中,为了实现作用到活塞(134)上的力的额定值,连续阀(140)的位姿(y)的额定走向通过规划液压的驱动器(100)中的额定压力和连续阀(140)的由此产生的位姿(y)来推断。
4.根据权利要求3所述的方法,其中,额定压力的规划包括规划两个接口(A、B)之间的压差或者在其中一侧测量压力并在另一侧规划压力。
5.根据前述权利要求中任一项所述的方法,其中,具有一个主级(140.2)和一个或多个先导级(140.1)的阀被用作连续阀(140)。
6.根据前述权利要求中任一项所述的方法,其中,在预先给定中,特别是在连续阀(140)的位姿(y)的从属调节的范畴中进行预先控制。
7.根据权利要求5和6所述的方法,其中,在用于连续阀(140)的预先控制中预先控制用于连续阀的主级(140.2)的位置的额定值。
8.根据前述权利要求中任一项所述的方法,其中,气缸(132)在接口(A)处通过阀(144)、特别是切换阀与压力介质存储器(110)连接。
9.根据前述权利要求中任一项所述的方法,其中,在借助液压的驱动器(100)的模型进行监测的范畴下,将参量的特定值与相应的测量值进行比较。
10.根据前述权利要求中任一项所述的方法,其中,所述液压的驱动器(100)用于液压轴。
11.计算单元(150),其设立用于执行根据前述权利要求中任一项所述的方法。
12.计算机程序,当计算机程序在计算单元(150)上实施时,所述计算机程序促使计算单元(150)执行根据权利要求1至10中任一项所述的方法。
13.机器可读存储介质,具有存储在其上的根据权利要求12所述的计算机程序。
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