EP0177481A1 - Procédé de régulation pour un cylindre fluidique - Google Patents

Procédé de régulation pour un cylindre fluidique Download PDF

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Publication number
EP0177481A1
EP0177481A1 EP85890218A EP85890218A EP0177481A1 EP 0177481 A1 EP0177481 A1 EP 0177481A1 EP 85890218 A EP85890218 A EP 85890218A EP 85890218 A EP85890218 A EP 85890218A EP 0177481 A1 EP0177481 A1 EP 0177481A1
Authority
EP
European Patent Office
Prior art keywords
piston
cylinder
force
measured
pressure
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
EP85890218A
Other languages
German (de)
English (en)
Other versions
EP0177481B1 (fr
Inventor
Friedrich Dipl. Ing. Dr. Bauer
Herbert Dipl Ing. Kühnelt
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.)
Hoerbiger Ventilwerke GmbH and Co KG
Original Assignee
Hoerbiger Ventilwerke GmbH and Co KG
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 Hoerbiger Ventilwerke GmbH and Co KG filed Critical Hoerbiger Ventilwerke GmbH and Co KG
Publication of EP0177481A1 publication Critical patent/EP0177481A1/fr
Application granted granted Critical
Publication of EP0177481B1 publication Critical patent/EP0177481B1/fr
Expired 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
    • F15B9/03—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 with electrical control means

Definitions

  • the invention relates to a control method for a fluid cylinder for monitoring the position or regulating the movements of the piston, which is slidably guided in a cylinder tube and is acted upon by pressure medium on at least one side, the piston being moved to and in at least one predetermined position is held.
  • displacement transducers are used to determine the respective position and movements of the piston, the signals of which are evaluated in the regulating device. As soon as the piston leaves its predetermined position, the pressure of the pressure medium acting on the piston is changed such that the piston is returned to the desired position.
  • the position transducers show the respective position of the piston in the cylinder with great accuracy and react without significant delay. Nevertheless, vibrations and overrides occur with these known regulations.
  • the invention is based on the object of improving the previously known control methods in such a way that precise control of the movements of the piston of a fluid cylinder and reliable maintenance of the selected target position is possible in a simple manner without mechanical additional devices.
  • the control method according to the invention is characterized in that, in order to hold the piston in the approached position, the force exerted between the piston and the cylinder via the parts sliding on one another is carried, in particular the frictional force acting via the seals of the piston and / or the piston rod, is measured, and the application of pressure medium to the piston is changed in the sense of a reduction in the measured force.
  • This procedure already detects the disturbing forces acting on the piston before they cause the piston to move. This makes it possible to counteract the disruptive forces in good time with control measures. If, for example, the load transferred to the piston via the piston rod changes or the pressure of the pressure medium acting on the piston changes, e.g. due to a leaky valve or leakage, the control can intervene correctively before the piston leaves the desired position.
  • control accuracy is not affected by the frictional forces, which can also be relatively large. With the aid of the method according to the invention, it is thus avoided in all disturbances in the balance of forces of a pneumatic or hydraulic fluid cylinder that the piston executes unintentional or uncontrolled movements.
  • the force transmitted between the piston and the cylinder is measured by determining the resulting pressure force exerted on the piston by the pressure medium and comparing it with the load force transmitted via the piston rod or the supporting force acting on the cylinder. With this measure, all disturbing forces are detected, which cause the piston to move out of the desired position could cause effect, so that an inadvertent displacement of the piston is reliably avoided by timely corrective intervention of the control.
  • the resulting pressure force exerted by the pressure medium on the piston can be determined simply by measuring the pressure of the pressure medium prevailing in the cylinder spaces on the two sides of the piston and from this the resulting pressure force is calculated taking into account the different pressurized piston surfaces.
  • the load force transmitted via the piston rod or the supporting force of the cylinder is advantageously measured with the aid of a force transducer which is installed in the piston rod or in the abutment of the cylinder.
  • Another embodiment variant of the control method according to the invention is that the force transmitted between the piston and the cylinder is measured by measuring the forces acting in each case in the cylinder tube in the region of the two ends of the cylinder and then the difference between the forces measured in the region of the two ends Forces is formed.
  • Hiebei is based on the knowledge that, apart from any reaction forces of the pressure medium, which act on the cylinder tube through the ends of the cylinder, only the forces transmitted by the piston and any brake are introduced into the cylinder tube in the axial direction of the cylinder. The total in the axial direction between the piston and the Forces transmitted to the cylinder barrel can therefore be determined by forming the difference between the forces measured in the region of the two ends of the cylinder barrel.
  • a simple way of determining the forces acting in the cylinder tube is to place force transducers on the cylinder tube, e.g. Strain gauges to attach and measure with them the forces acting in the area of the two ends of the cylinder tube.
  • the forces acting in the cylinder tube can also be generated using pressure transmitters, e.g. Pressure transducers, piezoresistive or magneto-elastic sensors are measured, which are provided between the cylinder tube and the cylinder cover at each end of the cylinder.
  • the cylinder tube can be supported on each side by three or four sensors.
  • Fig. 1 shows a schematic representation of the circuit diagram of a position control of a fluid cylinder using the method according to the invention
  • Fig. 2 a fluid cylinder with another force measuring system is partially shown in the axial central section
  • Fig. 3 shows the schematic circuit diagram of a further embodiment of a control according to the method according to the invention.
  • a fluid cylinder which consists of a cylinder tube 1, in which a piston. 2 is slidably guided with a piston seal 3.
  • the cylinder tube 1 is closed at both ends by covers 4 and 5.
  • a piston rod 6 connected to the piston 2 is led out through the cover 5 and is sealed by a rod seal 7 accommodated in the cover 5.
  • the piston rod 6 is partially hollow.
  • a control valve 11 is provided, which alternately connects a pressure source 12 via fluid lines 13 and 14 to the cylinder spaces 15 and 16 on the two sides of the piston 2.
  • the control valve 11 is controlled via an amplifier 17 by a control device 18.
  • the amplifier 17 is connected to the control device 18 via a line 19 and to the control valve 11 via a line 20.
  • the control device 18 has an input 21 for the input of a target value and two further inputs 22 and 23, via which the measured values are input.
  • the input 22 is connected to the displacement transducer 10 via a signal line 24, in which a transducer 25 is connected, and a signal line 26, which comes from a further transducer 27, connects to the input 23.
  • the transducer 27 is connected via two lines 28 and 29 to a set of force transducers 30 and 31, which are each arranged in the region of one end of the fluid cylinder.
  • strain gauges are provided as force transducers, which are arranged at the ends of the cylinder tube 1 on the outside of the same.
  • FIG. 2 Another embodiment is shown in FIG. 2, in which pressure transmitters 32 are used.
  • the cylinder tube 1 is clamped there between the covers 4 with the aid of tie rods 33 acting on them.
  • Pressure transmitters 32 e.g. Pressure transducers, piezoresistive or magneto-elastic sensors, are arranged at each end of the fluid cylinder between the cylinder tube 1 and the cylinder cover 4, three or four sensors being expediently provided on each side.
  • the force transmitted between the piston 2 and the cylinder tube 1 is determined by forming the difference between the pressure forces measured at the two ends of the cylinder tube 1.
  • FIG. 3 differs from the control according to FIG. 1 in that a pressure sensor 34, 35 is connected to each of the two cylinder spaces 15, 16 for measuring the force that is transmitted between the piston 2 and the cylinder , each with a line 36.37 a difference generator 38 are connected. From this, the line 28 leads, as in the exemplary embodiment according to FIG. 1, to the measurement transducer 27.
  • the piston rod 6 is also provided with a force transducer 39 which, via the line 29, again as in FIG. 1, with the measurement transducer 27 in Connection is established.
  • the pressure in the two cylinder spaces 15, 16 is measured with the aid of the two pressure sensors 34, 35, from which the resulting force exerted on the piston 2 by the pressure medium can be calculated taking into account the different pressurized piston surfaces.
  • the force transducer 39 measures the respective load force that acts in the piston rod 6. The forces determined in this way are compared with one another in the transducer 27 and the signal obtained therefrom is fed to the control device 18. The load force could also be measured on the abutment of the fluid cylinder shown schematically in FIG. 3 and designated 40. If necessary, the force transducer 39 would be provided on the abutment 40 instead of on the piston rod 6.
  • the control device 18 When monitoring the position or regulating the movements of the piston 2 with the aid of the controls shown in the drawings, the control device 18 is given a setpoint value via the input 21, for example a specific position of the piston in the cylinder tube 1. With the aid of the displacement sensor 10 and its sensing rod 9 the respective position of the piston 2 is determined, the measured signals being passed on to the control device 18 via the transducer 25. From this is the control valve 11 in via the amplifier 17 actuated in such a way that the piston 2 is displaced into the position predetermined by the desired value. The piston 2 is then to be held in this position.
  • the control device 18 must intervene in a corrective manner.
  • the displacement sensor 10 only detects a malfunction that has occurred after the piston 2 has changed its position.
  • the force that is transmitted between the piston 2 and the cylinder via the parts sliding on one another is continuously monitored to hold the piston 2 in the approached position, and the application of pressure medium to the piston 2 in the sense of a reduction in the measured Power changes.
  • the force transmitted between the piston 2 and the cylinder tube 1 via the piston seal 3 is measured with the aid of the force transducers 30, 31 by forming the difference, the signal obtained being fed via the transducer 27 to the control device 18.
  • pressure transducers 32 are provided instead of the force transducers 30, 31, the force transmitted between the piston 2 and the cylinder tube 1 also being determined by forming the difference.
  • the pressure of the pressure medium in the two cylinder tubes 15, 16 is monitored with the aid of the two pressure sensors 34, 35 and the force exerted on the piston 2 by the pressure medium is calculated therefrom.
  • This force is compared to the load force acting on the piston rod 6 is measured by the force transducer. In this way, all disturbing forces that could move the piston are detected, and in addition to the frictional force between the piston 2 and the cylinder tube 1, the frictional force transmitted to the piston rod seal 7 is also taken into account in particular.
  • the signals obtained in this way are evaluated in the transducer 27, from where the resulting signal is fed to the control device 18, which changes the application of pressure medium to the piston 2 in the sense of a reduction in the measured force.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Fluid-Pressure Circuits (AREA)
EP85890218A 1984-09-17 1985-09-10 Procédé de régulation pour un cylindre fluidique Expired EP0177481B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0294384A AT384899B (de) 1984-09-17 1984-09-17 Regelungsverfahren fuer einen fluidzylinder
AT2943/84 1984-09-17

Publications (2)

Publication Number Publication Date
EP0177481A1 true EP0177481A1 (fr) 1986-04-09
EP0177481B1 EP0177481B1 (fr) 1987-12-02

Family

ID=3542789

Family Applications (1)

Application Number Title Priority Date Filing Date
EP85890218A Expired EP0177481B1 (fr) 1984-09-17 1985-09-10 Procédé de régulation pour un cylindre fluidique

Country Status (4)

Country Link
US (1) US4700610A (fr)
EP (1) EP0177481B1 (fr)
AT (1) AT384899B (fr)
DE (1) DE3561111D1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0345804A2 (fr) * 1988-06-10 1989-12-13 Ishikawajima-Harima Heavy Industries Co., Ltd. Haut-parleur hydrostatique et sa commande
FR2706951A1 (fr) * 1993-06-25 1994-12-30 Ppm
WO1995021332A1 (fr) * 1994-02-04 1995-08-10 Microhydraulics, Inc. Soupapes hydrauliques
GB2301461A (en) * 1994-02-04 1996-12-04 Microhydraulics Inc Hydraulic valves
CN109879196A (zh) * 2019-03-13 2019-06-14 宁波寰禹智能科技有限公司 一种基坑钢支撑轴力伺服系统的支撑锁位机构及锁位方法

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GB2507425B (en) * 2011-06-10 2019-01-09 Cameron Int Corp Locking device
CN104033432B (zh) * 2014-05-23 2017-06-13 北京航天发射技术研究所 数控油缸闭环控制系统及方法
JPWO2016163194A1 (ja) * 2015-04-06 2018-01-18 株式会社日立製作所 作業機械の外力計測システムおよび作業機械
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0345804A2 (fr) * 1988-06-10 1989-12-13 Ishikawajima-Harima Heavy Industries Co., Ltd. Haut-parleur hydrostatique et sa commande
EP0345804A3 (fr) * 1988-06-10 1991-04-03 Ishikawajima-Harima Heavy Industries Co., Ltd. Haut-parleur hydrostatique et sa commande
FR2706951A1 (fr) * 1993-06-25 1994-12-30 Ppm
WO1995021332A1 (fr) * 1994-02-04 1995-08-10 Microhydraulics, Inc. Soupapes hydrauliques
GB2301461A (en) * 1994-02-04 1996-12-04 Microhydraulics Inc Hydraulic valves
CN109879196A (zh) * 2019-03-13 2019-06-14 宁波寰禹智能科技有限公司 一种基坑钢支撑轴力伺服系统的支撑锁位机构及锁位方法

Also Published As

Publication number Publication date
AT384899B (de) 1988-01-25
ATA294384A (de) 1987-06-15
EP0177481B1 (fr) 1987-12-02
US4700610A (en) 1987-10-20
DE3561111D1 (en) 1988-01-14

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