EP0220248B1 - Systeme pour le reglage de l'amplification de circuit d'un circuit de servo-regulation - Google Patents

Systeme pour le reglage de l'amplification de circuit d'un circuit de servo-regulation Download PDF

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Publication number
EP0220248B1
EP0220248B1 EP19860902788 EP86902788A EP0220248B1 EP 0220248 B1 EP0220248 B1 EP 0220248B1 EP 19860902788 EP19860902788 EP 19860902788 EP 86902788 A EP86902788 A EP 86902788A EP 0220248 B1 EP0220248 B1 EP 0220248B1
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EP
European Patent Office
Prior art keywords
valve
flow
drive unit
servo
regulating
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.)
Expired
Application number
EP19860902788
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German (de)
English (en)
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EP0220248A1 (fr
Inventor
Dieter Jordan
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Voith Turbo H and L Hydraulic GmbH and Co KG
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Hartmann and Lammle GmbH and Co KG
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Publication of EP0220248A1 publication Critical patent/EP0220248A1/fr
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    • 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
    • F15B9/08—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 valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/12—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 valves affecting the fluid feed or the fluid outlet of the servomotor in which both the controlling element and the servomotor control the same member influencing a fluid passage and are connected to that member by means of a differential gearing

Definitions

  • the invention relates to a device for setting the loop gain of a tracking control circuit provided for the movement control of a hydraulic feed drive unit, which is electrically, e.g. works by means of a stepper motor, controlled position setpoint value specification and mechanical position actual value feedback, and with the other generic features mentioned in the preamble of claim 1.
  • Follow-up control loops of the aforementioned type are used in a variety of ways, e.g. to control the feed and retraction movements of pressing or punching tools or to control the relative movements of workpieces and tools in machine tools that work with metal cutting, e.g. Lathes as well as in machine tools in which a more or less quickly routing driven tool such as a drill, a milling cutter, a grinding or a honing tool perform feed and retraction movements.
  • the loop gain K v of such electro-hydraulic control loops is given by the relationship defines, in which v denotes the speed of the controlled tool or workpiece movements, which is determined by the amount of the working medium flows supplied to or discharged from the drive unit via a follow-up control valve and is denoted by A s, the following error or following error, by which the actual position of the tool differs from the set target position if, in the steady state of the control, the run-on control valve is turned on to such an extent that the time-related delivery quantity required for a desired feed rate flows through the run-on control valve.
  • the loop gain K v is, in terms of amount, a measure of the sensitivity of the tracking control, which is greater the greater the loop gain.
  • This “switchover” to another circuit gain of the overrun control circuit is carried out by adjusting the gear ratio of a mechanical conversion device as required, by means of which the deflections of the valve piston of a main valve pressure-pilot-controlled by means of the overrun control valve are reported back to the valve actuating element of the follow-up control valve .
  • a disadvantage of this type of circuit gain switching or setting is the complicated structure of the mechanical implementation devices required for this and the relatively narrow area for structural reasons within which a variation of the circuit gain is possible. Such devices for adjusting the loop gain of a wake control loop are therefore only suitable for a limited group of applications.
  • the object of the invention is therefore to provide a device of the type mentioned, which is subject to no restrictions with regard to the area within which a setting of different loop amplifications should be possible, but is nevertheless of a considerably simpler design and can be implemented more cost-effectively. This object is achieved by the features mentioned in the characterizing part of claim 1.
  • the follow-up control valve is provided with at least one additional valve element which executes the actuating movements of a valve element used for movement control with the circuit gain K v1 , for example a cone seat valve.
  • a parallel flow path leads via this valve element to that flow path of the follow-up control valve, via which, in an operating phase running with the value K v1 of the circuit gain, the working medium flow determining the working speed of the drive unit flows, while working with the circuit gain K v1 , Is blocked.
  • This additional flow path can be released by activating a boost control valve arrangement, with the result that a working medium flow supplied to or flowing from the drive unit increases in accordance with the additionally released flow cross-section and thus results in a relative increase in the circuit gain to a value K v2 becomes.
  • a control device is provided with which the additional flow path can be opened or closed as required.
  • claims 2 and 3 alternatively as well as in combination implementable options for guiding the additional flow paths, by releasing them, the loop gain of the control loop can be changed.
  • the combinatorial implementation of the features of claims 2 and 3 is necessary if a double-acting hydraulic cylinder of the drive unit is designed as a differential cylinder.
  • the features of claim 4 provide a design of a device according to the invention in which large changes in the circular gain can be achieved with only a single additional flow path.
  • the features of claim 5 achieve a continuous adjustability of the loop gain between a lower limit value K v1 and an upper limit value K v2 .
  • the advantage of a device designed according to the features of claim 6 is that as a follow-up control valve, via the valve elements of which all working medium flows are led, which are used to change the circuit gain or to stabilize it to a certain value, the usual 4 / 3-way control valves of simple design can be used, the valve elements of which are designed as inserts which have different opening cross sections in relation to the unit of the adjustment path.
  • the design of a device according to the basic structure and specified in more detail by the features of claim 8 is suitable for a drive unit with a double-acting hydraulic cylinder, the working spaces of which are offset by the piston, alternatively with the regulated, high outlet pressure of the follow-up control valve or are connected to the tank of the pressure supply source via the valve elements of the follow-up control valve which are used in the return flow direction.
  • valves of the amplification control valve arrangement provided for releasing and blocking the additional flow paths, in an embodiment as electrically controllable solenoid valves, enable a program-controlled path-dependent switching of the overrun control circuit to the respectively appropriate values of the circuit amplification.
  • boost control valves as well as pressure-controlled valves can be formed, the control pressure spaces of which are communicatively connected to one of the working spaces of the hydraulic cylinder of the drive unit.
  • the design of the device according to the invention specified by the features of claim 9 has the advantage that both control options are available to the user with only little additional technical effort.
  • the device according to the invention fulfills as far as possible all the requirements that may exist on the user side and is therefore suitable as a standard device for a wide variety of applications.
  • One of the two control options can be used as a security measure against a malfunction of the other control type.
  • the working space 18, which is penetrated in the axial direction by the piston rod 13 and has an annular cross section, is continuously connected to the high pressure (P) supply connection 21 of the hydraulic pressure supply unit 22, which, for the sake of simplicity, is represented only by the hydraulic pump 23 and the tank (T) 24.
  • the working space 18 of the hydraulic cylinder 11, which is delimited by the smaller, annular piston surface 26 of the piston 27, is thus constantly subjected to the outlet pressure of the pressure supply unit 22.
  • the other, by the total cross-sectional area 28 of the piston 27 movable working space 19 of the hydraulic cylinder 11 is of a type known per se by a total control valve 29 designated, which with electrical or mechanical position setpoint value specification and mechanical position actual Value feedback works, alternatively connectable to the pressure outlet 21 of the pressure supply unit 22 or to its tank 24.
  • a total control valve 29 designated, which with electrical or mechanical position setpoint value specification and mechanical position actual Value feedback works, alternatively connectable to the pressure outlet 21 of the pressure supply unit 22 or to its tank 24.
  • the larger working space 19 of the hydraulic cylinder 11 e.g. Via the control outlet 31 (A outlet) of the overrun control valve 29 and thus connected via this to the pressure passage 21 of the pressure supply unit 22, the piston 27 and with it the tool head 14 moves in the direction of the arrow 16, according to FIG. 1 upwards, whereby working medium is forced out of the - upper - working space 18 back to the pump 23, while a working medium flow of the same amount flows into the - lower - working space 19.
  • the larger working chamber 19 is connected via the B control connection 32 of the follow-up control valve and via this to the tank 24 of the pressure supply unit, in which case the piston 27 of the hydraulic cylinder 11 moved in the direction of arrow 17 "down".
  • the follow-up control valve 29 comprises a total of 4 valve elements 34, 35, 36 and 37, the basic position shown being the blocking position in the special exemplary embodiment shown.
  • the conical valve bodies 38 which are urged in the direction of the respective, for example annular-edged valve seat 41 by return springs 39, have pin-shaped extensions 42, on the free ends of which a valve actuation member, generally designated 43, can engage, by means of its axial displacements in the arrows 44 and 46, in opposite directions, either lift the valve bodies of the two valve elements 34 and 35, which are arranged to the right of the valve actuator 43 according to FIG.
  • valve elements 34 - 37 are designed so that the valve gap or flow cross sections released by an actuation of the valve elements flow over the working medium flows supplied to or from the hydraulic cylinder 11, each proportional to the deflections e i and s 2 of the valve actuating member 43 or are approximately proportional, by which the valve bodies 38 of one “right” pair of valve elements 34, 35 or the valve bodies 38 of the other pair of valve elements 36, 37 are displaced in the direction of arrows 44 and 46, respectively.
  • the lower right valve element 34 according to FIG. 1 is the flow cross section of a first flow path, generally designated 47, via which working medium is directed from the P supply connection 21 of the pressure supply unit 22 to the A control output 31 of the follow-up control valve 29 and via this can flow into the working area 19 of the hydraulic cylinder having the larger cross section.
  • the lower valve element 36 on the left is the flow cross-section of a first drain flow path, designated overall by 48, via which working medium can flow out of the working space 19 of the hydraulic cylinder 11 to the tank 24.
  • the upper right valve element 35 according to FIG. 1 is the effective flow cross section of an additional inflow flow path, which is connected in parallel to the first inflow flow path 47 and is designated overall by 49, and which runs from the P supply outlet 21 of the pressure supply unit 22 to the B- Control port 32 of the follow-up control valve 29 and via this leads to the larger working space 19 of the hydraulic cylinder 11.
  • this additional inflow flow path 49 is blocked and released when the control valve 51 is controlled into its excited position 1.
  • the upper valve element 37 on the left is the effective flow cross-section of an additional drain flow path connected in parallel with the first drain flow path 48, designated overall by 52, which in the basic position 0 of a second 2/2-way Solenoid valve trained control valve 53 is blocked and released in the energized position 1 of this second control valve 53, so that 52 working medium can flow out of the larger working space 19 of the hydraulic cylinder 11 to the tank 24 through this additional drain flow path.
  • the control of the feed and retraction movements of the hydraulic cylinder 11 takes place by step-by-step or continuous specification of target position values in the embodiment shown play by turning a spindle nut 54 which is guided in the housing 33 of the follow-up control valve in the direction of arrows 44 and 46 to slide back and forth.
  • the spindle nut is in meshing engagement with a threaded spindle 56, which is rotatably mounted in the housing 33 of the follow-up control valve 29, but is secured against axial displacements.
  • a pinion 57 which is connected in a rotationally fixed manner to the threaded spindle 56, meshes with a toothed rack 58 which, for example, is coupled in motion to the piston rod 13 of the hydraulic cylinder 11 via a rigid connection 59.
  • the spindle nut 54 which passes freely through a central opening 61 of the valve actuating member 43, is connected to the valve actuating member 43 via axial ball bearings 62 and 63 arranged on both sides of the valve actuating member 43 such that the latter results in axial displacements of the spindle nut resulting from a rotation of the spindle nut relative to the threaded spindle 56, which, depending on the direction of rotation in the direction of arrow 44 or arrow 46, also carries out, but does not also have to carry out their rotational movements; the valve actuator 43, which is not specifically shown, is secured against rotation, guided on the valve housing 33 so as to be displaceable in the axial direction.
  • the tool head 14 should first perform an infeed movement in the direction of the arrow 16 “upwards” until it hits a workpiece (not shown) and then - under increased load - a working stroke s must execute, which corresponds to the machining depth of the workpiece. Then the tool head 14 is to be returned to the starting position shown.
  • the spindle nut is first rotated counterclockwise, as seen in the direction of arrow 64, as a result of which the spindle nut 54 and together with this the valve actuation element 43, since at the beginning of this control process the piston 27 of the hydraulic cylinder 11 practically does not yet move and so that the threaded spindle 56 does not yet rotate, undergoes a shift in the direction of the arrow 44, to the right, as a result of which the two valve elements 34 and 35, which are arranged to the right of the valve actuating element according to FIG. 1, are opened. It is assumed that the two control valves 51 and 53 are in the blocking position 0 shown.
  • the threaded spindle 56 is also rotated in the direction of arrow 64, also in the counterclockwise direction, via the rack / pinion drive 58, 57, depending on the conversion ratio, with where the speed v of the rack movement is converted into a proportional angular velocity of the threaded spindle 56, the angular velocity of which sooner or later becomes equal to that of the spindle nut, possibly after a phase in which the angular velocity of the threaded spindle 56 was greater than that of the spindle nut 54 and in the prevailing equilibrium state of the same angular velocities of the spindle nut 54 and the threaded spindle 56, that deflection ⁇ 1 of the valve actuating member 43 is reached, in which the valve element 37 is opened so far that it is introduced via the first flow path 47 into the larger working space 19 of the hydraulic cylinder 11
  • the working medium flow has the value at which the speed of the movement of the hydraulic
  • the specification of the setpoint of the speed of movement of the piston 27 of the hydraulic cylinder takes place in the special embodiment shown in a manner known per se with the aid of a stepper motor 67 which can be driven in alternative directions of rotation by output control pulses from an electronic control unit 66 and which has a toothed belt drive designated as 68 with the Spindle nut 54 is drive-coupled.
  • the rotational or angular speed of the spindle nut 54 is determined by the frequency of the respective control pulses by which the driven pinion 69 of the stepping motor 67 is rotated by a defined angular increment.
  • the time-related number of the control pulses fed to the stepper motor 67 which are used to control them in one or the opposite direction of rotation, thus predetermine a specific path s by which the piston 27 of the hydraulic cylinder 11 or the tool head 14 moves in the reference time period.
  • the caster or tracking error As, by which the current position of the tool head 14, that is to say the actual position thereof, differs from the desired position controlled by the toothed belt drive 68, then corresponds to the deflection ⁇ 1 or ⁇ characteristic of the stationary movement state 2 of the valve actuator 43 from its basic position, multiplied by the conversion ratio with which the mechanical feedback device comprising the threaded spindle 56, its drive pinion 57 and the rack 58 converts stroke paths of the piston 27 of the hydraulic cylinder into rotation angle amounts of the threaded spindle 56 which are proportional thereto.
  • the overrun control valve 29 reacts to this with an increase in the deflection ⁇ 1 of the valve actuating element 43, with the result that the loop gain K v - because of the increase in the overrun error As associated with the increase in the deflection ⁇ 1 - decreases.
  • the control becomes less sensitive, and therefore deviations of the actual position of the tool from the currently controlled target position become larger.
  • the additional inflow flow path 49 and the additional drain flow path 52 is provided. As long as these additional flow paths 49 and 52 are blocked in the basic positions 0 of the control valves 51 and 53, the loop gain of the overrun control loop is limited to a maximum value K v1 .
  • the maximum circuit gain of the overrun control circuit can be increased to the value K v2 for the feed operation of the hydraulic cylinder 11, that is to say when the piston 27 moves in the direction of the arrow 16, since now with a predetermined deflection ⁇ 1 of the valve actuating element 43, working medium can flow into the larger working space 19 of the hydraulic cylinder 11 via the two valve elements 34 and 35 of the parallel inflow flow paths 47 and 49.
  • the circuit gain of the wake control circuit can also be increased to a maximum value K v2 for the retracting operation of the hydraulic cylinder 11, that is to say when the piston 27 moves “downward” in the direction of the arrow 17 become, since with a given deflection s z the valve body 38 of the two valve elements 36 and 37 per unit time can flow a larger volume of working medium via the parallel discharge flow paths 48 and 52 to the tank 24.
  • valve-controlled release of an additional inflow flow path 49 and an outflow flow path 52 can be used both to increase the loop gain and to partially or completely compensate for a drop in the loop gain, the need being that Compensation for a drop in loop gain in practice which will be more common.
  • a throttle 71 with an adjustable flow resistance is provided between the first control valve 51 and the valve element 35 of the follow-up control valve 29; likewise, a throttle 72 with an adjustable flow resistance is provided in the additional outflow flow path 52 leading from the hydraulic cylinder 11 via the valve element 37 of the follow-up control valve 29, as seen in the flow direction, again between the valve element 37 and the second control valve 53.
  • the booster control valves 51 and 53 are controlled as required by the program by means of output signals from the electronic control unit 66, which also provide the position-target value output signals for controlling the stepping motor 67 generated, that is path-dependent.
  • FIG. 2 shows a drive device 10 'largely functionally analogous to the drive device 10 according to FIG. 1 with adjustable control loop gain, elements of the drive device 10' according to FIG. 2 and 10 according to FIG. 1 the same reference numerals are used and in this respect reference can be made to the relevant description of FIG. 1.
  • the drive device 10 'according to FIG. 2 differs from that according to FIG. 1 essentially only in the special design of the follow-up control valve 29', which is designed here as a spool valve.
  • the devices required for setting the desired position value and for reporting the actual position of the piston 27 of the hydraulic cylinder 11 can have the same design as that in connection with the achievement of the deflections ⁇ 1 and 82 of the valve actuator 43 of the follow-up control valve 29 ge 1 and are not shown for the sake of simplicity.
  • valve housing 74 of the follow-up control valve 29 ' which is only shown schematically, a total of six annular grooves 77-82, which radially widen the central housing bore, in which the valve piston 73 is displaceably guided, are provided, which are equidistant along the central longitudinal axis 83 of the valve housing 74 are arranged, the width w of these annular grooves 77-82, measured in the same direction, corresponding to the thickness of the annular intermediate ribs 85-89 of the valve housing 74, which thickness is also measured in this direction, and which each offset two of these annular grooves.
  • the valve piston 73 has between its end sections 91 and 92, with which it is guided in the corresponding end sections of the housing bore 76, a total of 4 annular grooves 93-96, each in pairs through one of the three piston flanges 97-99, whose diameter D is the diameter of the central housing bore 76, are offset from one another, the annular grooves 93-96 of the valve piston 73, viewed in the direction of its longitudinal axis 83, being twice the width ww of the annular grooves 77-82 of the valve housing 74 and the thicknesses of the piston flanges 97 measured in the same direction, 98 and 99 correspond to the axial widths w of the ring grooves 77 - 82 of the valve housing 74.
  • the arrangement of the housing ring grooves and the arrangement of the piston ring grooves 93 - 96 are thus symmetrical with respect to the transverse central plane 101 of the valve housing or the transverse central plane 102 of the valve piston 73, the basic position of the valve piston 73 shown in dashed lines with the transverse central plane 101 of the valve housing 73 coincides.
  • the annular groove 80 arranged to the right of the plane of symmetry 101 of the valve housing 73 according to FIG. 2 is communicatively connected to the P supply connection 21 of the pressure supply unit 22, the annular groove 79 arranged to the left of the plane of symmetry 101 to the tank supply connection 103.
  • the two Ring grooves 78 and 81, between which the ring grooves 79 and 80 communicating with the tank supply connection 103 and the P supply connection 21 are arranged, are both via the B control output 32 and the A output 31 of the follow-up control valve 29 '. connected to the working space 19 of the hydraulic cylinder 11 delimited by the larger piston area 28.
  • the outer annular groove 77 of the valve housing 74 is via the amplification control valve 51, which is blocked in its basic position 0, in its excited position 1 is switched from passage to the P supply output 21 of the pressure supply unit 22 and via this connected to the work chamber 18 of the hydraulic cylinder 11, which is smaller in cross section.
  • the outer annular groove 82 on the right of the valve housing 74 is connected to the supply connection 103 communicating with the tank 24 of the pressure supply unit 22 via the second boost control valve 53, the basic position 0 of which is the blocking position and the excited position I is the flow position.
  • the possible deflections ⁇ 1 and s 2 of the valve piston 73 in the alternative deflection directions 44 and 46 are limited to values which are less than half the width w of the annular grooves 77-82 of the valve housing 74.
  • the valve piston (shown in dashed lines) 73 are both the ring grooves 78 which are in constant communication with the larger working space 19 of the hydraulic cylinder 11 and also the two outermost ring grooves 77 and 82, which are connected to one of the control valves 51 and 52, against which one of the P - or T-supply connections 21 or 103 communicating annular grooves 80 or 79 of the valve housing 74 blocked.
  • the blocking position of the follow-up control valve 29 '- the piston 27 of the hydraulic cylinder 11 stops.
  • the annular groove 79 which constantly communicates with the tank supply connection 103 and also the further annular groove 82 which only communicates with the tank in the open position of the second boost control valve 53 are at a deflection ⁇ 1 of the valve piston 73 against the respectively adjacent annular grooves 78 and 81 cordoned off.
  • FIG. 3 shows a further embodiment of a hydraulic drive device 100 with a device for adjusting the loop gain that is subject to the inventive concept.
  • the basic structure and function of the drive device 100 according to FIG. 3 is largely analogous to that of the drive device 10 according to FIG. 1, and the elements of the drive devices 10 shown in FIGS. 1 and 3 are therefore identical or have the same construction and function or 100 used the same reference numerals, so that reference can be made to the relevant parts of the description of FIG. 1.
  • the characteristic difference of the drive device; 100 compared to the drive device 10 according to FIG. 1 consists in that in both working directions of movement 16 and 17 of the piston 27 of the double-acting hydraulic cylinder 11 provided as the power drive unit, one of its two working spaces 19 or 18 via the a total of 29 "follow-up control valve are connected to the P pressure supply connection 21 of the pressure supply unit 22 and the respective other working space 18 or 19, also via follow-up control valve 29" to the tank 24 of the pressure supply unit 22.
  • the piston 27 of the hydraulic cylinder 11 moves in the feed direction 16 when its working space 19 with the larger cross section via the A control connection 31 of the follow-up control valve 29 'with the P supply connection 21 of the pressure supply unit 22 and its cross section is smaller Working space 18 are connected to the tank 24 of the pressure supply unit 22 via the B control connection 32 of the follow-up control valve 29 ".
  • the working space 18 of the hydraulic cylinder 11, which is smaller in cross section is via the B control connection 32 of the follow-up control valve 29 "with the pressure supply connection of the pressure supply unit 22 and the cross-sectionally larger working space 19 of the hydraulic cylinder 11 via the A control connection 31 of the follow-up control valve 29" with the tank 24 of the pressure supply unit 22.
  • valve elements 104, 105, 106 and. are in the context of the follow-up control valve 29 ", the structure of which, apart from the number of valve elements, is analogous to that of the follow-up control valve 29 according to FIG. 1 107 are provided which, in turn, can alternatively be controlled in pairs to release the inflow or outflow flow paths to be steered in the respective movement directions 16 and 17.
  • valve elements 108 and 109 as well as 111 and 112 and associated amplification control valves 113 and 114 or 116 and 117, additional supply and discharge flow paths can be released, by means of which the effective circuit amplification of the overrun provided for movement control of the hydraulic cylinder piston 27 is enabled
  • Control loop be it to increase the loop gain or to compensate for a load-related reduction thereof, can be released.
  • Due to the deflection ⁇ 1 and ⁇ 2 of the valve actuating member 43 ' which, in the same way as explained with reference to FIG. 1, from the target value control and the position-actual value feedback via the stepper motor-controlled rotation of the spindle nut 54 or the rotation of the threaded spindle 56, 4 of the total of 8 valve elements are opened.
  • valve elements 104, 105, 108 and 109 which, according to FIG. 3, are arranged to the right of the valve actuating member 43'.
  • valve elements 106, 107 and 111 and 112 arranged on the left thereof are opened.
  • the control valve can be actuated 113 in its flow position 1, an additional inflow flow path 118 is released, through which an additional working medium flow into the larger working area is provided by the P supply connection 21 via the control valve 113 and the valve element 108 connected to it aum 19 of the hydraulic cylinder 11 can flow, resulting in a relative increase in the circular gain K v is achieved.
  • an additional drain flow path 119 can be released, which leads from the smaller working chamber 18 of the hydraulic cylinder 11 via the B control connection 32, the valve element 109 of the follow-up control valve 29 "and the additional boost control valve 114 leads back to the tank 24 of the pressure supply unit 22.
  • additional flow path 119 is a relative Er Increasing the loop gain K v of the wake control loop can be achieved.
  • additional inflow and outflow flow paths 118 and 119 respectively correspond to additional flow paths 121 and 122 which are suitable for setting desired values of the loop gain and which can be used when the hydraulic cylinder 11 is operated in the retracting mode, ie with movement in the direction of the arrow 17 , can be activated by actuation of the further boost control valves 116 and 117.
  • control valves 113 and 114 or 116 and 117 are expediently carried out by output signals from the electronic control unit 66 ', which also generates the control pulses for the stepper motor 68 which are used for specifying the desired value.
  • the control of the boost control valves 113 and 114 or 116 and 117 is path-dependent, that is to say program-controlled.
  • boost control valves 113 and 114 or 116 and 117 pressure-controlled actuation of the same is also possible, as in the upper part of FIG. 3 for the boost Control valves 114 and 117 shown, which, if the pressure in that work space 18 or 19, from the working medium to flow out to the tank 24, exceeds a threshold value, are controlled in their flow positions and thereby the additional drain flow path 119 or 122 is released .
  • boost control valves 113 and 116 can also be provided in connection with the boost control valves 113 and 116, respectively, which release the additional inflow flow paths 118 and 121, respectively.
  • valve elements 34-37 of the follow-up control valve 29 according to FIG. 1 and likewise the valve elements 104-109 as well as 111 and 112 of the follow-up control valve 29 "according to FIG. 3 have what the schematic representations of FIGS. 1 and 3 do not can be seen, pressure-balanced valve body 38, which regardless of how the pressure conditions are on different sides of the valve seat, are reliably held in their locking position by the return springs 39 when the respective valve actuator 43 or 43 'is in its neutral basic position.

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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)

Abstract

Un circuit de servo-régulation d'une unité d'entraînement d'avance hydraulique (10) fonctionne électriquement de la position de consigne et avec renvoi mécanique de la position réelle. Les écoulements du milieu de travail vers et en provenance de l'unité d'entraînement (10), dont la valeur détermine la vitesse v des mouvements d'outils, passent par des éléments de valve (34,36) à servo-régulation (29) qui peuvent être commandés conjointement par les distances de réglage epsilon1 et epsilon2 selon la valeur de consigne. L'amplification de circuit Kv peut être commutée par l'actionnement d'un système de commutation commandé par valve. Dans le circuit de servo-régulation, la valve de servo-régulation (20) comporte au moins un élément de valve supplémentaire (35, 37) qui effectue les mouvements de positionnement de l'élément de valve servant à commander le mouvement avec l'amplification de circuit Kv1; dans cet élément se trouve un chemin d'écoulement, parallèle à celui de la valve de servo-régulation (29), qui peut être ouvert par l'actionnement d'un dispositif de valve de commande d'amplification (51, 53), ce qui permet de régler l'amplification du circuit Kv2. Un dispositif (66) est prévu pour commander le dispositif de valve de commande selon les besoins quant à son réglage de débit qui permet le fonctionnement avec la valeur modifiée Kv2.

Claims (9)

1. Dispositif pour le réglage de l'intensification d'une boucle d'asservissement prévue au réglage du déplacement d'une unité hydraulique de commande d'avance (11), boucle fonctionnant avec présélection électrique de la valeur de consigne de la position, p.ex. moyennant un moteur pas-à-pas (67) et information en retour mécanique de la valeur réelle de la position, les flux des fluides moteur transmis à l'unité de commande (11) par une source de pression (22) et s'écoulant de l'unité de commande vers le réservoir (24) de la source de pression et dont le montant détermine la vitesse v à laquelle se font les déplacements d'un outil déplacé moyennant l'unité de commande (11 ), étant dirigés à travers des éléments de valve d'une soupape de réglage d'asservissement (29; 29'; 29") pouvant être par la présélection de la valeur de consigne réglés sur les parcours de réglage si ou s2 nécessaire à l'obtention d'une vitesse de travail désirée et l'intensification de la boucle Kv du circuit de réglage étant commutable par actionnement commandé par soupape d'un dispositif de commutation d'une première valeur Kv1 d'intensification du circuit de réglage sur au moins une autre valeur Kv2, caractérisé en ce que la soupape de réglage d'asservissement (29; 29'; 29") comporte au moins un élément de valve additional (34 et 36; 104, 105, 106, 107) utilisé pour la commande du déplacement avec l'intensification de boucle Kv1 avec un élément de valve de sortie (37, 39; 108, 109, 111,112) à travers lequel mène une voie de courant parallèle (49, 52; 118, 119, 121, 122) à la soupape de réglage d'asservissement (29; 29'; 29") à travers laquelle voie s'écoule, dans une phase d'opération de l'inter- sification de boucle d'une valeur Kvi, un courant de fluide moteur déterminant la vitesse de marche de l'unité d'entraînement (11); cette voie pouvant être débloquée par excitation d'une disposition de vannes-pilotes d'intensification (51,53; 113, 114, 116, 117) dont la position bloquées correspond à la position de base, et qu'un dispositif de commande (66; 66') est prévu permettant de placer la disposition de vannes-pilotes d'intensification (51, 53; 113, 114, 116, 117) selon les besoins dans sa (leurs) position(s) de passage communiquant à l'unité d'entraînement (11) une autre valeur Kv2.
2. Dispositif selon la revendication 1, caractérisé en ce que la voie de courant additionelle (49) mène, à partir de la sortie (21) du groupe d'alimentation en pression (22) et à travers l'autre élément de valve (35), dans l'espace de travail de l'unité d'entraînement (11) qui, pendant la phase d'opération se déroulant avec l'intensification de boucle Kvi, est chargée de la pression de sortie réglée de la soupape de réglage d'asservissement (29; 29').
3. Dispositif selon la revendication 1 ou 2, caractérisé en ce que une voie de courant (52) déblocable et blocable moyennant la disposition à soupapes de commande et passant à travers un autre élément additionel de valve (37) de la soupape de réglage d'asservissement (29; 29'), et montée en parallèle à la voie de courant (48) à travers laquelle un fluide moteur peut être repoussée ou soutirée d'un espace de travail (19) de l'unité d'entraînement (11) pendant une phase d'opération de l'unité d'entraînement (11) se déroulant avec l'intensification de boucle Kv1, est prévue.
4. Dispositif selon l'une des revendications précédente 1 - 3, caractérisé en ce que la section d'ouverture se rapportant au parcours de réglage ε1 ou 82 des ou de l'élément(s) de soupape additionnels (35, 37; 108, 109, 111, 112) de la soupape de réglage d'asservissement (29; 29'; 29") par lequel ou lesquels s'écoule un fluide moteur pendant une phase d'opération se déroulant avec l'intensification modi- fée de boucle Kv2, est plus grande que la section d'ouverture se rapportant au parcours de réglage des éléments de soupape (34, 36; 104, 105, 106, 107) à travers lesquels passent les fluides moteur qui, pendant une phase d'opération se déroulant avec l'intensification boucle Kv1, s'écoulent vers l'unité d'entraînement ou en sont repoussés ou soutirés.
5. Dispositif selon l'une des revendications précédentes, caractérisé en ce que la ou les voie(s) additionnelle(s) (49 et/ou 52) est ou sont munie(s) d'un étranglement (71 ou 72) avec une résistance hydraulique réglable.
6. Dispositif selon l'une des revendications préce- dentes, dans lequel l'unité d'entraînement est conçue comme vérin hydraulique à piston différentiel à double effet (11) sur l'espace de travail (18) limitée de façon mobile par la surface de piston la plus petite (26), duquel la sortie du groupe d'alimentation en pression (22) est toujours connectée et sur l'espace de travail (19), limité de façon mobile par la surface de piston la plus grande (28), duquel peuvent être raccordés à travers un élément de soupape avec une section d'ouverture proportionelle au parcours de réglage se trouvant dans le cadre de la soupape de réglage d'asservissement (29), soit la sortie de pression du groupe d'alimentation en pression (22) ou son réservoir, caractérisé en ce que la soupape de réglage d'asservissement (29) est conçue comme un distributeur à 4/3 voies connu, pour lequel la présélection de la valeur de consigne se fait par une présélection définie d'un parcours rotatif d'un écrou de broche (54) par rapport à une broche filetée (56) prévue à la signalisation retour de la valeur réelle, broche pouvant être entraînée elle-même de façon rotative par les déplacements d'avance et de rappel de l'unité d'entraînement de puissance (11) dans des sens de rotation alternés, p.ex. d'un engrenage à crémaillère (58, 57) pouvant être entraîné en rotation et sur laquelle sont prévus des déplacements axiaux ε1 ou ε2 de l'écran de broche (54), résultant d'une rotation de ce dernier par rapport à la broche (56), avec un élément d'actionnement (43) de la soupape, ces déplacements déclenchant les modifications des sections de passage, en proportion de la déviation de réglage, des vois de courant d'alimentation de l'unité d'entraînement (11) et deux éléments de soupape (34 et 35 ou 36 et 37) étant par paire placés dans leur position de passage par les déplacements si ou ε2 en directions alternées de l'élément d'actionnement (43) de la soupape, et les deux voies de courant menant, à travers les éléments de soupape (34 et 35) de l'une des paires d'éléments, vers l'espace de travail le plus grand (19) du vérin hydraulique à piston différentiel (11), par laquelle ce dernier peut être relié avec la sortie de pression (21 ) du groupe d'alimentation en pression (22) et, à travers les éléments de soupape (36 et 37) de l'autre paire d'éléments, les voies de courant moyennant lesquelles le grand espace de travail (19) peut être connecté sur le réservoir (24) et que une des voies de courant d'alimentation en pression ou de détention de pression est toujours munie d'une soupape de réglage d'intensification (51 ou 53) pouvant être commutée d'une position de base bloquant la voie de courant dans une position de passage permettant le fonctionnement du dispositif avec intensification de boucle Kv2 plus élevée.
7. Dispositif selon l'une des revendications précédentes 1 - 5, sur laquel l'unité d'entraînement est conçue comme vérin hydraulique (11) à double effet, avec des valeurs similaires ou différentes des surfaces de piston limitant d'une côté les deux espaces de travail (18, 19), un des espaces de travail étant raccordé à une sortie de pression et l'autre à un branchement de reflux du récipient de la soupape de réglage d'asservissement et les voies de courant d'amenée et d'écoulement du fluide moteur menées à travers la soupape de réglage d'asservissement ont une section de passage proportionnelle au déplacement de réglage ε1 ou ε2 des corps des éléments de soupape de la soupape de réglage d'asservissement, caractérisé en ce que lors de fonctionnement de l'unité d'entraînement (11) avec l'intensification de boucle Kv1, non seulement les voies de courant commandées avec une section d'ouverture proportionnelle à l'un des parcours de réglage d'un élément d'actionnement de soupape (43') de la soupape de réglage d'asservissement (29") sont déblocables, mais également d'autres voies de courant parallèles (118, 119, 121, 122) qui sont déblocables par excitation de soupape (113, 114, 116, 117) de la disposition de soupape de commande et sont menées à travers des éléments de soupape additionnels (108, 109, 111, 112) de la soupape de réglage d'asservissement, dont les corps de soupape sont soumis aux mêmes déviations modifiant la section de courant que les corps de soupape (104, 105, 106, et 107), à travers lesquels sont menées uniquement les voies de courant utilisés seules lors de fonctionnement de l'installation avec la valeur basse Kv1 de l'intensification de boucle.
8. Dispositif selon la revendication 7, caractérisé en ce que la soupape de réglage d'asservissement (29") est conçue comme distributeur à 8/3 voies comprenant deux groupes de 4 éléments de soupape (104, 105, 108 et 109 ou 106, 107, 111 et 112) pouvant être actionnés en commun, chacun des deux groupes étant coordonné à une des directions de déplacement de l'unité d'entraînement (11).
9. Dispositif selon la revendication 7 ou la revendication 8, caractérisé en ce que les soupapes (113, 114, 116, 117) de la disposition de soupape de commande de l'intensification prévus à l'excitation ou au blocage des voies de courant additionnelles sont conçues comme soupapes d'inversion à excitation électrique ou hydraulique, pouvant être commandées avec la pression de sortie de l'espace de travail (18 ou 19) connecté de l'unité d'entraînement (11), si cette pression de sortie dépasse une valeur seuil.
EP19860902788 1985-04-30 1986-04-30 Systeme pour le reglage de l'amplification de circuit d'un circuit de servo-regulation Expired EP0220248B1 (fr)

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DE3515566 1985-04-30

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EP0220248B1 true EP0220248B1 (fr) 1989-07-26

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DE3706160A1 (de) * 1987-02-26 1988-09-08 Eumuco Ag Fuer Maschinenbau Hubbalken-automatik fuer gesenkschmiedepressen u. dgl.
FR2653243B1 (fr) * 1989-10-12 1992-02-07 Laudinet Chrisitan
DE4038270C2 (de) * 1990-12-05 1993-11-18 Yoshikawa Iron Works Hubsteuervorrichtung
WO1995024565A1 (fr) * 1994-03-09 1995-09-14 Eckehart Schulze Unite d'entrainement hydraulique
CN115213255B (zh) * 2022-07-15 2024-06-07 上汽通用五菱汽车股份有限公司 冲压件尺寸偏差调整方法、电子设备及存储介质

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US2733688A (en) * 1956-02-07 badenoch
US3183785A (en) * 1963-06-26 1965-05-18 Cadillac Gage Co Adaptive gain servo actuator
DE2062134C3 (de) * 1970-12-17 1974-03-28 Hartmann & Laemmle Ohg, 7000 Stuttgart-Bad Cannstatt Steuervorrichtung mit einer mit einem Kolben eines Arbeitszylinders verbundenen MeßspindeL
JPS52151496A (en) * 1976-06-10 1977-12-15 Nisshin Sangyo Co Hydraulic servo mechanism

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DE3664667D1 (en) 1989-08-31
EP0220248A1 (fr) 1987-05-06
DE3614577A1 (de) 1986-12-11

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