EP1176314B1 - Procédé et dispositif pour compenser la compressibilité dans des commandes hydrauliques - Google Patents

Procédé et dispositif pour compenser la compressibilité dans des commandes hydrauliques Download PDF

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Publication number
EP1176314B1
EP1176314B1 EP20010116889 EP01116889A EP1176314B1 EP 1176314 B1 EP1176314 B1 EP 1176314B1 EP 20010116889 EP20010116889 EP 20010116889 EP 01116889 A EP01116889 A EP 01116889A EP 1176314 B1 EP1176314 B1 EP 1176314B1
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EP
European Patent Office
Prior art keywords
piston
displacement chamber
pressure
ausgl
valve
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
EP20010116889
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German (de)
English (en)
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EP1176314A2 (fr
EP1176314A3 (fr
Inventor
Wolfgang Prof. Dr.-Ing. Backé
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Individual
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Individual
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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
    • F15B9/09—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
    • 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

Definitions

  • the invention relates to a device and a method for compensating the compressibility of the hydraulic fluid in hydraulic drives with at least one displacement chamber.
  • DE 42 28 308 A1 describes the compensation of the compressibility by piezo elements. Although the piezo elements can generate very high forces within a short time, the resulting paths are very short. In addition, a piezo element itself represents a spring. If it works against a pressure, the path is further reduced as it springs under pressure. This has the consequence that in practice only small load changes, which correspond to a maximum of 5 to 7 bar pressure change, be compensated. In general, however, depending on the supply pressure pressure changes in the range of 100 bar and more are required. The control described in DE 42 28 308 is therefore not suitable to meet the requirements occurring in practice.
  • the object of the invention is to provide a device and a method which make it possible to increase the load stiffness of hydraulic drives reliably and to respond to load changes within a few milliseconds in order to compensate for compression-related position or speed deviations of a hydraulic drive.
  • the invention is achieved by a device having the features of claim 1 and by a method having the features of claim 15.
  • Advantageous embodiments and embodiments are the subject of the dependent subclaims.
  • the independent claim 21 relates to a hydraulic drive with a compensation device according to the invention.
  • the compensation in the prior art is controlled, that is, without a return or a feedback
  • the compensation of the compression volume is carried out according to the invention in a closed volume flow control loop.
  • the volumetric flow resulting from the pressure rise is calculated taking into account the compression coefficient and the volume under pressure, and represents the control variable in the control loop.
  • the compensation volumetric flow generated by the compensating piston is constantly compared with the target volumetric (compression volumetric flow) and via the control circuit (three-point controller and fast control valves) this tracked. The result is that exactly the volume is supplied to the working cylinder, which is missing due to compression in the displacement.
  • the drive cylinder remains largely in its position.
  • the hydraulic drive in Fig. 1 consists of a cylinder 1 and a guided therein piston 2, the two displacement chambers 3 and 4 separated from each other.
  • the cylinder-piston drive is controlled with the steady valve 6 in the closed position control loop.
  • the piston stroke X is measured and compared with the setpoint X is supposed to .
  • the difference X soll - X ist is the current error of the retracted position.
  • controller 9 This is modified by a controller 9 according to modern controller concepts, for example by a differentiating and / or integrating component is generated, which is supplied via an amplifier element 10 to the continuous valve 6, which controls the piston-cylinder unit via the lines 11 and 12 so that the error should be X - X is made as fast as possible to zero.
  • the invention is to cause according to Fig. 1, that despite rapid change in the load F 5, the piston 2 stops in its position or at a constant speed of the drive no speed drop occurs.
  • a piston 15 is arranged, which is held by the springs 18 and 19 in the middle.
  • the piston 15 separates two displacement chambers 16 and 17.
  • the pressure in chamber 3 of the hydraulic drive is measured via the pressure sensor 21 and via the electrical line 22 forwarded. Pressure oscillations of the pressure sensor are damped by the damper element 23.
  • the temporal pressure gradient is calculated. From the pressure gradient dp 1 / dt, the compression flow Q Kompr can be calculated, which disappears due to the time-related pressure change in the displacement chamber 3 or becomes free when the pressure is decreased.
  • V o is the volume of oil in the displacer chambers 3, 16, 17 under the pressure p 1
  • oil is the volume compression coefficient of the oil filling V o , wherein the elasticity of the surrounding cylinders 1 and 14 is also taken into account.
  • the oil filling V o is of the piston travel X is dependent, and the compression modulus E oil is a function of the pressure p. 1 Both influences are included in the block 25 in the result for Q Kompr .
  • y ' is determined by means of a speed sensor 20 integrated in the piston chamber 17. It can also be the way y of the piston 15 are measured and converted by the differentiating member 26 to the speed y '.
  • the result of the difference formation Q Kompr - Q Ausgl is supplied to a three-position controller 27.
  • Q Compr is greater than Q Comp .
  • Q Comp is connected via a very fast switching valve 28 with switching times of 1 to 2 milliseconds the displacer 17 with the pressure source P via the line 29.
  • Piston space is 4, the supply of a compensating volume flow is only necessary to a displacement.
  • C is the total spring stiffness of the springs and a the surface of the piston 15.
  • the switching valve 30 may optionally be replaced by an increased clearance between the piston 15 and cylinder 14, whereby a centering of the piston 15 takes place.
  • the device for increasing the dynamic load stiffness is applicable to all types of cylinders, not only on the same-area cylinder, as in Fig. 1st
  • Fig. 2 the application is shown in a differential cylinder. Even plunger cylinders with only one displacement chamber can be equipped with it.
  • Fig. 2 shows two features.
  • the compensating cylinder 14 with piston 15 can be integrated directly into the cylinder cover 33 of a piston side.
  • two 2/2-way valves 31 and 32 are integrated. These are characterized by a very small design and extremely short switching times in the range of 1 ms.
  • Fig. 3 shows that you can run the flow control circuit for the equalizing current also steadily.
  • the continuous valve 36 is actuated by the difference between the compression flow Q Compr and the compensating flow Q Ausgl via the blocks 34 and 35.
  • a compensating flow Q Ausgl corresponding to the compression flow Q Compr is supplied to the displacer 3 under pressure p 1 .
  • Fig. 4 shows that the principle of the invention is also applicable to rotary actuators 38.
  • the rotation angle ⁇ is not yield at standstill or is avoided a drop in speed at a constant speed. Since the volume V o between the valve and motor (except for the internal pulse actions) is constant, only the pressure p has to be taken into account in the calculation of the compression flow in block 24a.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)

Claims (22)

  1. Dispositif pour compenser la compressibilité du liquide hydraulique de commandes hydrauliques ayant au moins une chambre de déplacement (3), le dispositif étant couplable à la chambre de déplacement (3) de la commande hydraulique par l'intermédiaire d'un conduit (13) pour le liquide hydraulique, comprenant des moyens (21)pour mesurer la pression dans la chambre de déplacement (3), des moyens (24, 25) pour calculer le flux de compression QKompr de liquide hydraulique apparaissant lors de changements de pression, dus à la compressibilité du liquide hydraulique, dans la chambre de déplacement, ainsi que des moyens d'amenée ou d'évacuation d'un débit volumétrique de compensation QAusgl de liquide hydraulique dans la chambre de déplacement, régulé au moyen du flux de compensation calculé.
  2. Dispositif selon la revendication 1, caractérisé en ce qu'un régulateur à trois positions (27) est prévu pour réguler le débit volumétrique de compensation QAusgl.
  3. Dispositif selon la revendication 1, caractérisé en ce que les moyens d'amenée ou d'évacuation du débit volumétrique de compensation QAusgl comprennent un cylindre (14), un piston (15) guidé dans le cylindre (14) et au moins une valve (28 ; 31, 32 ; 36), le cylindre (14) étant couplable à la chambre de déplacement (3) de la commande hydraulique par l'intermédiaire du conduit (13) et le piston (15) étant susceptible d'être soumis à une surpression ou une dépression par l'intermédiaire de l'au moins une valve (28 ; 31, 32 ; 36).
  4. Dispositif selon la revendication 3, caractérisé en ce que l'au moins une valve est une valve (28 ; 31, 32 ; 36) ayant un temps de commutation de l'ordre de quelques millisecondes.
  5. Dispositif selon la revendication 4, caractérisé en ce que la valve est une soupape de commutation à trois voies (28).
  6. Dispositif selon la revendication 4, caractérisé en ce que sont prévues deux soupapes de commutation à deux voies (31, 32).
  7. Dispositif selon la revendication 4, caractérisé en ce que la valve est une servovalve proportionnelle (36).
  8. Dispositif selon l'une quelconque des revendications 3à 7, caractérisé en ce qu'est prévu un capteur de vitesse (20) pour mesurer la vitesse du piston (15).
  9. Dispositif selon l'une quelconque des revendications 3 à 8, caractérisé en ce que le piston (15) est maintenu en précontrainte dans une position de repos par des éléments élastiques, notamment deux ressorts (18, 19).
  10. Dispositif selon l'une quelconque des revendications 1 à 9, caractérisé en ce que les moyens pour mesurer la pression dans la chambre de déplacement (3) comprennent un détecteur de pression (21) et un élément amortissant (23) pour amortir les oscillations de pression du détecteur de pression (21).
  11. Dispositif selon l'une quelconque des revendications 1 à 10, caractérisé en ce que l'au moins une valve (28 ; 31, 32) et les moyens (21) pour mesurer la pression sont couplés par l'intermédiaire d'une conduite (22) destinée à transmettre des signaux électromagnétiques.
  12. Dispositif selon l'une quelconque des revendications 1 à 11, caractérisé en ce que les moyens pour calculer le flux de compression QKompr comprennent un différentiateur (24) pour déterminer le gradient de pression temporel.
  13. Dispositif selon l'une quelconque des revendications 1 à 12, caractérisé en ce que les moyens pour calculer le flux de compression QKompr comprennent un bloc (25) conformé de manière à prendre en compte le volume V0 momentanément présent dans la chambre de déplacement (3) et le module de compression EÖl dépendant de la pression p1 régnant dans la chambre de déplacement.
  14. Dispositif selon l'une quelconque des revendications 1 à 13, caractérisé en ce qu'une vanne permanente (36) est susceptible d'être activée par l'intermédiaire de deux blocs (34, 35) afin de réguler le débit volumétrique de compensation QAusgl.
  15. Procédé pour compenser la compressibilité du liquide hydraulique de commandes hydrauliques ayant au moins une chambre de déplacement (3), caractérisé en ce que la pression p1 est mesurée dans la chambre de déplacement, que le flux de compression QKompr de liquide hydraulique apparaissant lors de changements de pression, dus à la compressibilité du liquide hydraulique, dans la chambre de déplacement est calculé et que le flux de compression QKompr est compensé par un débit volumétrique QAusgl amené dans la chambre de déplacement.
  16. Procédé selon la revendication 15, caractérisé en ce que le débit volumétrique QAusgl est régulé au moyen du flux de compression QKompr calculé.
  17. Procédé selon la revendication 15 ou 16, un ensemble piston cylindre (14, 15) étant prévu pour générer le débit volumétrique QAusgl, caractérisé en ce que la vitesse ý du piston (15) est mesurée directement ou indirectement et est utilisée pour mesurer le débit volumétrique QAusgl selon la relation QAusgl = ýa, a étant la superficie de la coupe transversale du cylindre (14).
  18. Procédé selon la revendication 17, caractérisé en ce que QAusgl est continuellement comparé au flux de compression QKompr calculé et que le résultat de la comparaison est acheminé jusqu'à un régulateur à trois positions (27) qui applique une surpression ou une dépression au piston par l'intermédiaire d'une soupape de commutation (28).
  19. Procédé selon l'une quelconque des revendications 15 à 18, caractérisé en ce que le fait que le module de compression dépend de la pression momentanée dans la chambre de déplacement est pris en compte lors du calcul du flux de compression QKompr.
  20. Procédé selon l'une quelconque des revendications 15 à 19, caractérisé en ce qu'un flux de fuite d'huile ΔQLeck est pris en compte lors de la régulation du débit volumétrique de compensation QAusgl.
  21. Commande hydraulique avec un dispositif pour compenser la compressibilité du liquide hydraulique utilisé par la commande lors de changements de charge selon l'une quelconque des revendications 1 à 14.
  22. Commande hydraulique selon la revendication 21 avec un dispositif selon l'une quelconque des revendications 2 à 14, caractérisé en ce que le piston (15) du dispositif est intégré dans un couvercle de cylindre (33) d'un côté du piston de la commande.
EP20010116889 2000-07-26 2001-07-11 Procédé et dispositif pour compenser la compressibilité dans des commandes hydrauliques Expired - Lifetime EP1176314B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2000136646 DE10036646A1 (de) 2000-07-26 2000-07-26 Vorrichtung und Verfahren zum Ausgleichen der Kompressibilität bei hydraulischen Antrieben
DE10036646 2000-07-26

Publications (3)

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EP1176314A2 EP1176314A2 (fr) 2002-01-30
EP1176314A3 EP1176314A3 (fr) 2004-01-07
EP1176314B1 true EP1176314B1 (fr) 2006-02-15

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EP20010116889 Expired - Lifetime EP1176314B1 (fr) 2000-07-26 2001-07-11 Procédé et dispositif pour compenser la compressibilité dans des commandes hydrauliques

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EP (1) EP1176314B1 (fr)
DE (2) DE10036646A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006002566B4 (de) 2006-01-18 2014-11-13 Eurocopter Deutschland Gmbh Hydraulikanlage
DE102009027070A1 (de) * 2009-06-22 2010-12-23 Zf Friedrichshafen Ag Ansteuerschaltung für einen pneumatischen oder hydraulischen Aktuator

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3805530A (en) * 1971-07-29 1974-04-23 Pacific Press & Shear Corp Compensated series hydraulic system
DE3017080C2 (de) * 1980-05-03 1985-11-28 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Elektrohydraulischer Stellantrieb
JPS6432081A (en) * 1987-07-28 1989-02-02 Tokyo Keiki Kk Pressure flow controller for variable delivery pump
DE4228308A1 (de) * 1992-08-26 1994-03-03 Rexroth Mannesmann Gmbh Hydraulische Antriebsvorrichtung, insbesondere für eine Werkzeugmaschine

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Publication number Publication date
EP1176314A2 (fr) 2002-01-30
DE10036646A1 (de) 2002-02-14
EP1176314A3 (fr) 2004-01-07
DE50108932D1 (de) 2006-04-20

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