EP1126182B1 - Vérin à commande électrique - Google Patents

Vérin à commande électrique Download PDF

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Publication number
EP1126182B1
EP1126182B1 EP20000126247 EP00126247A EP1126182B1 EP 1126182 B1 EP1126182 B1 EP 1126182B1 EP 20000126247 EP20000126247 EP 20000126247 EP 00126247 A EP00126247 A EP 00126247A EP 1126182 B1 EP1126182 B1 EP 1126182B1
Authority
EP
European Patent Office
Prior art keywords
circuit
setpoint
value
integrator
signal
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 - Lifetime
Application number
EP20000126247
Other languages
German (de)
English (en)
Other versions
EP1126182A2 (fr
EP1126182A3 (fr
Inventor
Georg Winkes
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1126182A2 publication Critical patent/EP1126182A2/fr
Publication of EP1126182A3 publication Critical patent/EP1126182A3/fr
Application granted granted Critical
Publication of EP1126182B1 publication Critical patent/EP1126182B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/008—Reduction of noise or vibration
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • 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
    • F15B9/09—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 with electrical control means

Definitions

  • the invention relates to an electrically controllable actuator, in particular for hydraulic or pneumatic actuators, which are acted upon by a manually adjustable by an operator setpoint, according to the preamble of the main claim.
  • the target value specification for the hydraulic valve is usually manually realized in that the driver makes the control of the hydraulic valves by remote control by pressing appropriate controls, such as a joystick, a lever or a similar element. It is then processed via the control element read by means of an electronic setpoint by digital processing in an electronic control unit and then serves as a setpoint signal for the corresponding output stages, which feed the electromechanical transducers of the hydraulic valves.
  • This per se known electronic treatment serves to influence the static transmission properties of the actuator, e.g. for characteristic curve detection or for generating a zoom function.
  • a comparable actuator is described for example in the company publication by Götz, Lackmann, "Electrohydraulic control technology in theory and practice", 1987, Robert Bosch GmbH, pages 6 to 9 described.
  • the document DE-A-198 01 338 describes a control device for the positioning of a cylinder piston by means of a proportional valve.
  • the control device allows the damped start of an end stop.
  • the position of the piston is constantly determined and determines therefrom by differential formation, a speed and an acceleration value of the piston.
  • a deviation signal for the deviation between a desired position and the measured position is first generated.
  • this value is corrected as a function of the speed and the acceleration, thus producing a control signal for the proportional valve.
  • the amplification factors of the individual contributions of the control signal are modified.
  • Hydraulic control for compensating for position and velocity variations of hydraulically-moving machine elements due to oil pressure fluctuations is described in US-A-5 218 895.
  • the control of a hydraulic motor via a solenoid valve is modified to match the actual speed of the hydraulic motor, which is constantly being measured, with the speed setpoint. If necessary, the speed specification is calculated from a position deviation.
  • the actuator is operated via smooth operating elements
  • feedback effects can cause vibrations in the actuator.
  • the hydraulic valve is used in a vehicle wherein the predetermined function to be controlled loads the vehicle with a mechanical force and is dependent on the operation of the hydraulic valve or its timing, a change in the valve operation results in a change in the load state of the vehicle. If this, for example, the vehicle axles are loaded, it may cause a movement of the structure of the vehicle. This movement transfers to the manually operable control and causes a change in the setpoint. As a result, the cause, that is to say the force effect on the vehicle, can be further intensified and thus forms a feedback which leads to a vibration.
  • a control circuit for the tailplane control in aircraft is described in the document US-A-3 201 675.
  • a command rate limiter with an input sum point, a limiter and an integrator is connected between a control element and a servomotor which adjusts the tail.
  • the angle change rate of the tail is limited to a default value.
  • the aforementioned electrically controllable actuator with a control element for reading a setpoint in an electronic control circuit and an electromechanical converter for controlling a mechanical Actuator is advantageously designed such that the electronic control circuit includes a setpoint damping circuit with which a limitation of the adjustment speed at a setpoint change is feasible.
  • the setpoint damping circuit has a summing point circuit at the input and an integrator at the output, which together are referred to as a PT1 element (first-order delay element).
  • the summation point circuit receives at a positive input the setpoint signal of the control element and at a negative input the fed-back output signal of the downstream integrator.
  • the limiter circuit is connected between the summing point circuit and the integrator.
  • the invention it is thus possible in a simple manner to simultaneously carry out a low-pass filtering and a limitation of the maximum rate of change of the setpoint signal for setpoint damping.
  • the aforementioned modified PT1 element is used, which is implemented in the electronic control circuit.
  • the circuit components can also be realized without great additional expenditure by changing the software structure of the digital electronic control circuit, which is generally digital.
  • a logic interrogation circuit is arranged between the output of the limiter circuit and the integrator, which is acted upon at further inputs with the reference signal and the output signal of the integrator.
  • a block for influencing the setting time for example, between the summation point circuit and the limiter circuit, can also be used. Multiplication by a constant factor, can be arranged.
  • the actuators have hydraulic or pneumatic valves in mobile working machines, e.g. Stacker or similar vehicles are, in which case the digital electronic control unit can also be implemented in the circuit of the valve electronics.
  • the proposed method for setpoint attenuation is particularly advantageous because it almost completely prevents oscillations by the feedback mechanism described above, in which a change in the valve actuation leads to a change in the load state of a vehicle with an influence on the setpoint value.
  • the responsiveness to actuation of the control is very convenient for the operators of the vehicles because the reaction to intended setpoint changes occurs immediately. Limiting the adjustment speed causes critical accelerations or to avoid decelerations of the load on the vehicle and when approaching the desired set point, this is ideally achieved with decreasing speed and finite change in acceleration, ie without a jerk.
  • the damping effect of the circuit arrangement according to the invention is based essentially on the low-pass characteristic of the PT1 element. Due to the effective amplitude reduction in the range of the possible natural vibration frequencies of the overall system a stable behavior in the operation of an actuator in a man-machine system is achieved.
  • Fig. 1 there is shown a block diagram showing the circuitry for actuating a hydraulic control valve to perform mechanical movements in a mobile work machine, e.g. a forklift or similar vehicle, the basic structure being known from the prior art mentioned at the beginning.
  • a mobile work machine e.g. a forklift or similar vehicle
  • a control element e.g. a joystick or the like.
  • Present and in an electronic control circuit 2 corresponding signals, preferably digital signals, generated, with which an electromechanical transducer is applied.
  • the output of the electromechanical transducer acts here on the valve piston of a hydraulic valve 3, with which a load 6 is mechanically controllable.
  • the vehicle not shown here is charged by the control of the hydraulic valve 3 with a mechanical force, which is dependent on the operation of the control element 1 or the time course and thus also leads to a change in the total load condition of the vehicle.
  • This can lead to a movement of the structure of the vehicle, which movement can be transferred to the manually operable control element 1 and thus a change in the desired value can not be ruled out by influencing the operating element 1 or the operator.
  • the cause ie the force acting on the vehicle, can continue amplify and thus represents a, here schematically indicated by the dashed line 7 feedback, which can lead to a vibration.
  • FIG. 2 shows a nominal value damping circuit 10, which may be part of the digital electronic control circuit 2, preferably in a software implementation.
  • the setpoint signal u is applied here to a plus input 11 of a summation point circuit 12.
  • the output of the summing point circuit 12 is guided via a circuit 13 for influencing the setting time to a limiter circuit 14, with which a limitation of the maximum rate of change of the setpoint signal is feasible.
  • the output of the limiter circuit 14 is fed to an input 15 of a logic interrogation circuit 16 at the second input 17, the setpoint signal u is applied.
  • the output of the interrogation circuit 16 is passed via an integrator 18 to the output 19 of the setpoint attenuation circuit 10, to which the output signal x is applied.
  • the output signal x is fed to a minus input 20 of the summing point circuit 12 and to a third input 21 of the interrogation circuit 16.
  • the interrogation circuit 16 it is achieved that in the event that the setpoint signal u is equal to "zero" and the output signal x of the integrator is unequal to "zero", i. x ⁇ > 0, the output of the logic interrogator circuit is set to the upper value (for x ⁇ 0) or to the lower value (for x> 0), so that in this case the interrogation circuit and the integrator function like a ramp act with constant slope.
  • the logic interrogation circuit 16 therefore, it is also checked in particular whether the value "zero" is specified as the setpoint u by the operator of the operating element 1. If this is the case, the operator would like the operating function as possible quit quickly and thus it makes sense to reset the output of the control circuit 2 with the maximum speed to the zero value. In the other case, the interrogation circuit 16 passes the output signal of the limiter circuit to the integrator.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Feedback Control In General (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Control Of Position Or Direction (AREA)

Claims (3)

  1. Vérin à commande électrique comprenant un élément de commande (1) pour lire une valeur théorique (u) dans un circuit de commande électronique (2) et un convertisseur électromécanique (3) pour exciter un organe de commande mécanique (4, 5), le circuit de commande électronique (2) comprenant un circuit de modération de la valeur théorique (10) avec lequel il est possible de procéder à une limitation de la vitesse de réglage pour une modification de la valeur théorique, le circuit de modération de la valeur théorique (10) présentant à l'entrée un circuit du point de totalisation (12) et à la sortie un intégrateur (18), le circuit de point de totalisation (12) obtenant à une entrée Plus (11) le signal de valeur théorique (u) et à une sortie Moins (20) le signal de sortie réinjecté (x) de l'intégrateur (18) branché en aval, un limiteur (14) étant commuté entre le circuit du point de totalisation (12) et l'intégrateur (18),
    caractérisé en ce qu'
    entre la sortie du limiteur (14) et l'intégrateur (18), il est prévu un circuit d'interrogation logique (16) chargé sur d'autres entrées (17, 21) par le signal de valeur théorique (u) et le signal de sortie (x), et
    au cas où le signal de valeur théorique (u) est égal à zéro et le signal de sortie (x) de l'intégrateur (18) différent de zéro, le signal de sortie du circuit d'interrogation logique (16) est réglé sur la valeur supérieure (pour x<0) ou sur la valeur inférieure (pour x>0) respectivement du circuit du limiteur (14).
  2. Vérin à commande électrique selon la revendication 1,
    caractérisé en ce qu'
    il est prévu entre le circuit du point de totalisation (12) et le circuit du limiteur (14) un module (13) pour influencer le temps de réglage.
  3. Vérin à commande électrique selon l'une des revendications précédentes,
    caractérisé en ce que
    les organes de commande (4, 5) sont des vannes hydrauliques ou pneumatiques dans des machines mobiles productrices de travail.
EP20000126247 2000-02-17 2000-12-01 Vérin à commande électrique Expired - Lifetime EP1126182B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2000107215 DE10007215A1 (de) 2000-02-17 2000-02-17 Elektrisch ansteuerbarer Stellantrieb
DE10007215 2000-02-17

Publications (3)

Publication Number Publication Date
EP1126182A2 EP1126182A2 (fr) 2001-08-22
EP1126182A3 EP1126182A3 (fr) 2004-01-07
EP1126182B1 true EP1126182B1 (fr) 2006-01-18

Family

ID=7631286

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20000126247 Expired - Lifetime EP1126182B1 (fr) 2000-02-17 2000-12-01 Vérin à commande électrique

Country Status (2)

Country Link
EP (1) EP1126182B1 (fr)
DE (2) DE10007215A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006026630A1 (de) * 2006-06-08 2007-12-13 Zf Friedrichshafen Ag Verfahren zur Ansteuerung eines Proportionalmagneten eines Elektromagnetventils

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3201675A (en) * 1962-11-01 1965-08-17 Bendix Corp Maximum command limiter device for an automatic flight control system
US3950687A (en) * 1974-04-12 1976-04-13 Newport News Shipbuilding & Drydock Co Servo-mechanism for controlling velocity and position of a controlled member
US5218895A (en) * 1990-06-15 1993-06-15 Caterpillar Inc. Electrohydraulic control apparatus and method
DE19801338C1 (de) * 1998-01-16 1999-06-02 Festo Ag & Co Vorrichtung zur gedämpften Positionierung eines in einem Zylinder verschiebbaren Kolbens an wenigstens einem Festanschlag, insbesondere zur Endlagenpositionierung

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006026630A1 (de) * 2006-06-08 2007-12-13 Zf Friedrichshafen Ag Verfahren zur Ansteuerung eines Proportionalmagneten eines Elektromagnetventils

Also Published As

Publication number Publication date
DE50012076D1 (de) 2006-04-06
EP1126182A2 (fr) 2001-08-22
EP1126182A3 (fr) 2004-01-07
DE10007215A1 (de) 2001-08-23

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