EP1264110A1 - Device for controlling a hydraulic actuator - Google Patents
Device for controlling a hydraulic actuatorInfo
- Publication number
- EP1264110A1 EP1264110A1 EP01903765A EP01903765A EP1264110A1 EP 1264110 A1 EP1264110 A1 EP 1264110A1 EP 01903765 A EP01903765 A EP 01903765A EP 01903765 A EP01903765 A EP 01903765A EP 1264110 A1 EP1264110 A1 EP 1264110A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- controller
- actuator
- valve
- control
- housing
- 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
Links
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
- F15B21/08—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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0401—Valve members; Fluid interconnections therefor
- F15B2013/0409—Position sensing or feedback of the valve member
Definitions
- the invention relates to a device for controlling a hydraulic actuator with an electrically operated valve which controls the pressure medium flow to and from the actuator, with a controller for the position of the valve piston which is integrated in the housing of the valve or is held there in a separate housing.
- a position sensor for the position of the valve piston converts the position of the valve piston into an electrical signal, which is fed to a position controller as an actual value.
- the regulator for the position of the valve piston is arranged in a separate housing which is held on the housing of the valve.
- the controller ensures that the valve piston follows a position setpoint that the controller uses as an electrical input variable, e.g. B. is supplied in the form of a voltage.
- the position of the valve piston determines the size of the passage cross section of the valve. With such valves, the pressure medium flow to and from an actuator, for. B. a hydraulic cylinder controlled.
- a digital controller assembly for electromechanical and electrohydraulic drives is known from publication RD 30 131-P / 10.99 "HNC 100 Series 2X" from Mannesmann Rexroth AG. With such a controller assembly, up to two can be used different drives can be controlled independently.
- the controller module is intended for installation in a control cabinet. Preferably, several of these modules are assembled together in a control cabinet. From there, electrical signal lines for the transmission of setpoints lead to the drive and further signal lines, which serve for the transmission of actual values, lead back from the drive to the controller modules arranged in the control cabinet.
- the controller assemblies provide the setpoint for the position of the valve piston of an electrically operated hydraulic valve that controls the flow of pressure medium to and from a hydraulic actuator.
- the invention has for its object to provide a device of the type mentioned, which is inexpensive to use in control systems with multiple electrohydraulic drives.
- the higher-level controller is designed as a programmable logic controller (PLC) or as a PC. It gives z. B. the setpoints of the regulated variables of the motion sequence of the actuator. In the form of subordinate control loops, the pressure of the pressure medium supplied to the actuator is regulated alone or in conjunction with a Regulation of the amount of pressure medium supplied to the actuator is possible.
- the design of the controller for the variable representative of the movement of the actuator as a microprocessor-controlled digital controller allows the implementation of a wide variety of algorithms.
- the control parameters can also be changed during operation.
- the arrangement of the components of the interfaces for the bus coupling on a separate board, which is held on a base board by a plug connection, enables the device to be easily adapted to different bus systems.
- FIG. 1 shows a view of a hydraulic valve with a housing held thereon for receiving an electrical circuit in a partially sectioned illustration
- FIG. 2 shows the block diagram of a device according to the invention for controlling a hydraulic actuator, which is connected on the input side to two bus systems and on the output side to a synchronous cylinder, and
- FIG. 1 shows the view of a device 10 for controlling a hydraulic actuator.
- a housing 12 is held on a hydraulic valve 11.
- the valve 11 is shown seen from the side.
- the valve 11 controls the pressure medium flow from a pump to a hydraulic one
- the actuator is a hydraulic cylinder, which is shown in FIGS. 2 and 3 as a synchronous cylinder 13.
- a differential cylinder or a hydraulic motor can serve as the actuator.
- the hydraulic connections of the valve 11 are designated P for the pump connection, T for the tank connection and A and B for the connections of the synchronous cylinder 13.
- a displacement transducer 14 for the position x of the valve piston projects into the housing 12.
- the displacement transducer 14 converts the position x of the valve piston into an electrical signal xi, which is fed to a controller 15 shown in FIG. 2 as the actual value.
- the components of the controller 15 are together with a controller 16 described in more detail below in connection with FIG. 2 for the position s of the piston rod of the
- Synchronous cylinder 13 arranged on a board 17 which is held in the housing 12.
- a second circuit board 18 is held on the circuit board 17 via plug connections 19 and 20.
- the plug connections 19 and 20 serve both for the electrical connection of conductor tracks of the circuit board 17 with conductor tracks of the circuit board 18 and for the mechanical connection of the circuit boards 17 and 18.
- the circuit board 18 carries interfaces , via which the device 10 can be coupled to bus systems used for signal transmission. By replacing the board 18, the device 10 can be easily adapted to different bus systems.
- FIG. 2 shows the block diagram of the device 10 shown in FIG. 1 for controlling the synchronous cylinder 13. The same components are the same
- the controller 15 for the position x of the valve piston of the valve 11 is supplied with the output signal xi of the displacement sensor 14 as the actual value and a setpoint xs as input signals.
- the output stage of the controller 15 supplies the coils 11a and 11b of the valve 11 with the currents ia and ib, which serve as a manipulated variable and deflect the valve piston in accordance with the control deviation and the transmission behavior of the controller 15 in such a way that the valve piston assumes the one specified by the signal xs Takes position. So that the actual value of the position of the valve piston follows its setpoint as quickly as possible, the controller 15 is designed as an analog controller.
- the connections A and B of the valve 11 are connected to the synchronous cylinder 13 via hydraulic lines 21 and 22, respectively.
- the piston rod of the synchronous cylinder 13 is provided with a displacement sensor 23, which converts the position of the piston rod into an electrical signal si.
- the signal si is supplied to the controller 16 as an actual position value.
- a pressure sensor 24 detects the pressure in the area of the connection A of the valve 11 and feeds a signal pA corresponding to this pressure to a computing circuit 25.
- Another pressure sensor 26 detects the pressure in the area of the connection B of the valve 11 and supplies the computing circuit 25 with a signal pB corresponding to this pressure.
- the arithmetic circuit 25 is supplied with the actual value xi of the position of the valve piston.
- the arithmetic circuit 25 forms an actual pressure value pi from the weighted pressure difference of the signals pA and pB, which is also a measure of the force acting on the piston rod of the synchronous cylinder 13.
- the signal pi is the controller 16 z. B. supplied as the actual value of a subordinate pressure control loop. If desired, the arithmetic circuit 24 forms from the
- Signals pA, pB and xi additionally have an actual quantity value Qi.
- This signal is fed to the controller 16 as the actual value of a subordinate quantity control loop.
- a selection circuit not shown here, ensures that either the pressure control loop or the quantity control loop is effective.
- the controller 16 is designed as a microprocessor-controlled digital controller. In addition to the algorithms for position control of the piston rod of the synchronous cylinder 13, he is therefore able to process the algorithms for pressure or quantity regulation of the pressure medium supplied to the synchronous cylinder 13. Instead of the position control described, speed control, force control or pressure control can also be implemented with the digital controller 16.
- the output signal of an electronic control 27 serves as the setpoint for the controller 16.
- the control 27 is a freely programmable sequence control with NC and / or PLC functionality.
- NC is the name used for machine controls for "numeric control”
- PLC the common name for "programmable logic controllers", for which the term PLC for "programmable logic controls” is also used in the English-speaking world.
- the sequential control system can be programmed by the user. The independence of the user when programming from the manufacturer results in a very high flexibility of the device according to the invention. Above all, however, the process know-how of the user remains protected.
- the controller 27 has a first interface 30 to a local bus system 31. With this bus system - as shown in FIG.
- the controller 27 has an interface 32 to a global bus system 33, via which the device 10 is connected to a higher-order controller 34 shown in FIG.
- the interfaces 30 and 32 are arranged on the circuit board 18 shown in FIG. 1. By exchanging the circuit board 18, the device 10 can be connected to different bus systems in a simple manner.
- FIG. 3 shows a schematic representation of the device 10 and two further devices 10 'and 10 "of the same design.
- a synchronous cylinder 13, 13' and 13" are connected to the devices 10, 10 ', 10 "
- the devices 10, 10 ', 10 " are connected to the local bus system 31 and to the global bus system 33.
- the local bus system 31 is, for example, a CAN bus. It connects the devices 10, 10 ', 10 "and, if appropriate, further similar inputs (not shown here) directions with each other. It allows data to be exchanged between several drives. This data exchange can be used e.g. B. Realize synchronism control of the piston rods of the synchronous cylinders 13, 13 ', 13 ".
- the global bus system 33 connects the devices 10, 10', 10" with the higher-order controller 34. It serves for communication of the individual devices 10, 10 ', 10 "with the higher-level control 34.
- This is shown in FIG. 3 as a programmable logic controller (PLC), but it can also be implemented by a PC.
- PLC programmable logic controller
- the higher-level control 34 gives the setpoints of the regulated variables of the motion sequence of the actuator
- the regulated variables of the motion sequence of the actuator are, for example, the position s of the piston rod of the synchronous cylinder 13 or its speed or the force acting on the piston rod of the synchronous cylinder 13.
- the superordinate Control 34 the various actual values of the drive, such as xi, si, pi, Qi, for example for monitoring purposes.
- FIG. 1 a separate housing 12 for receiving the boards 17 and 18, which carry the electronic circuits, is held on the valve 11.
- the housing of the valve it is also possible to design the housing of the valve so that the circuit boards 17 and 18 carrying the electronic circuits are held directly in the housing of the valve. In this case it is advantageous to provide partitions in the housing of the valve which prevent pressure medium from reaching the area in which the circuit boards are held.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
- Servomotors (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10012405 | 2000-03-15 | ||
DE10012405A DE10012405A1 (en) | 2000-03-15 | 2000-03-15 | Hydraulic actuator control for electromechanical and electrohydraulic drives, uses electronic control specifically as freely programmable sequence with numerical- and/or stored program control |
PCT/EP2001/001618 WO2001069094A1 (en) | 2000-03-15 | 2001-02-14 | Device for controlling a hydraulic actuator |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1264110A1 true EP1264110A1 (en) | 2002-12-11 |
EP1264110B1 EP1264110B1 (en) | 2004-08-25 |
Family
ID=7634688
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP01903765A Expired - Lifetime EP1264110B1 (en) | 2000-03-15 | 2001-02-14 | Device for controlling a hydraulic actuator |
Country Status (4)
Country | Link |
---|---|
US (1) | US6901315B2 (en) |
EP (1) | EP1264110B1 (en) |
DE (2) | DE10012405A1 (en) |
WO (1) | WO2001069094A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017222463A1 (en) | 2017-12-12 | 2019-06-13 | Robert Bosch Gmbh | Valve electronics and valve arrangement |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004031593A1 (en) * | 2002-10-07 | 2004-04-15 | Bucher Hydraulics Gmbh | Regulating device for a hydraulic system |
DE10344480B3 (en) * | 2003-09-24 | 2005-06-16 | Sauer-Danfoss Aps | Hydraulic valve arrangement |
DE102004024907A1 (en) * | 2004-05-19 | 2005-12-15 | Bosch Rexroth Aktiengesellschaft | Machine control and regulation system for an injection molding machine |
ATE375318T1 (en) | 2005-07-19 | 2007-10-15 | Helmut Woerner | STOP AND DAMPER MODULE |
DE102006014141A1 (en) | 2006-03-28 | 2007-10-04 | Zf Friedrichshafen Ag | Automatic friction clutch e.g. single-disk dry clutch, controlling method for motor vehicle, involves changing clutch torque to new reference value in pressure-controlled manner and adjusting pressure of actuator to another reference value |
US20090013681A1 (en) * | 2007-07-12 | 2009-01-15 | Courtright Geoffrey B | Energized Fluid Motor and Components |
DE102007051857B3 (en) * | 2007-10-30 | 2009-04-23 | Siemens Ag | Control device for position control of a hydraulic cylinder unit with linearization unit |
US20100158706A1 (en) * | 2008-12-24 | 2010-06-24 | Caterpillar Inc. | Pressure change compensation arrangement for pump actuator |
US8596057B2 (en) * | 2009-10-06 | 2013-12-03 | Caterpillar Inc. | Method and apparatus for controlling a variable displacement hydraulic pump |
DE102010008375A1 (en) * | 2010-02-17 | 2011-08-18 | Voith Patent GmbH, 89522 | Method for operating a hydraulic or pneumatic system |
US8594852B2 (en) | 2010-02-22 | 2013-11-26 | Eaton Corporation | Device and method for controlling a fluid actuator |
EP2715150B1 (en) | 2011-05-26 | 2016-10-26 | Eaton Corporation | Valve assembly with integral sensors |
FI127687B (en) * | 2012-03-20 | 2018-12-14 | Aalto Korkeakoulusaeaetioe | Adaptive hydraulic pressure generator |
DE102014016056A1 (en) * | 2014-10-29 | 2016-05-04 | Sipos Aktorik Gmbh | Actuator and method for servicing and / or commissioning an actuator |
EP3020983B1 (en) * | 2014-11-14 | 2020-04-22 | Danfoss Power Solutions Aps | Inlet module for a valve group |
EP3196623A1 (en) * | 2016-01-25 | 2017-07-26 | Primetals Technologies Germany GmbH | Simple leakage detection in a hydraulic cylinder unit |
AT520167B1 (en) | 2017-07-12 | 2019-05-15 | Engel Austria Gmbh | Hydraulic system for a molding machine |
CN110005661A (en) * | 2019-04-17 | 2019-07-12 | 江南大学 | Monomer combined hydraulic apparatus |
DE102019209091A1 (en) | 2019-06-24 | 2020-12-24 | Festo Se & Co. Kg | Method for operating a fluid system, fluid system and computer program product |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4807516A (en) * | 1987-04-23 | 1989-02-28 | The Boeing Company | Flight control system employing three controllers operating a dual actuator |
US5251148A (en) * | 1990-06-01 | 1993-10-05 | Valtek, Inc. | Integrated process control valve |
DE4232519C2 (en) * | 1992-09-22 | 1995-12-21 | Mannesmann Ag | Computer bus controlled power valve control |
DE4232518C2 (en) * | 1992-09-22 | 1996-03-14 | Mannesmann Ag | Control device for valves and / or valve units |
US5422808A (en) * | 1993-04-20 | 1995-06-06 | Anthony T. Catanese, Jr. | Method and apparatus for fail-safe control of at least one electro-mechanical or electro-hydraulic component |
DE4316560C2 (en) * | 1993-05-18 | 1996-11-07 | Ipt Inst Prueftech Geraetebau | Process for pressure control by solenoid valves on pressurized devices, e.g. on devices for pressure testing in plastic pipes, as well as control circuit for solenoid valves |
US5806565A (en) * | 1994-02-04 | 1998-09-15 | Microhydraulics Inc. | Hydraulic valves |
US5500580A (en) * | 1994-09-19 | 1996-03-19 | Hr Textron Inc. | Integrated compliance servovalve |
DE19530935C2 (en) * | 1995-08-23 | 1999-06-17 | Mannesmann Rexroth Ag | Electrical control unit |
DE29522027U1 (en) * | 1995-08-23 | 1999-04-08 | Mannesmann Rexroth AG, 97816 Lohr | Electrical control unit |
DE29617686U1 (en) * | 1996-10-11 | 1996-11-28 | Festo Kg, 73734 Esslingen | Fieldbus arrangement |
US6272401B1 (en) * | 1997-07-23 | 2001-08-07 | Dresser Industries, Inc. | Valve positioner system |
DE29717042U1 (en) * | 1997-09-24 | 1997-11-06 | Kuhnke GmbH, 23714 Malente | Unit for acquiring signals |
US6356811B1 (en) * | 1998-10-13 | 2002-03-12 | Honeywell Measurex Devron Inc. | Control system for pneumatic actuators |
US6442534B1 (en) * | 1999-02-23 | 2002-08-27 | Rockwell Automation Technologies, Inc. | Hydraulic controller using multiple regime specific controllers combined with fuzzy logic |
-
2000
- 2000-03-15 DE DE10012405A patent/DE10012405A1/en not_active Withdrawn
-
2001
- 2001-02-14 DE DE50103399T patent/DE50103399D1/en not_active Expired - Lifetime
- 2001-02-14 US US10/221,540 patent/US6901315B2/en not_active Expired - Lifetime
- 2001-02-14 EP EP01903765A patent/EP1264110B1/en not_active Expired - Lifetime
- 2001-02-14 WO PCT/EP2001/001618 patent/WO2001069094A1/en active IP Right Grant
Non-Patent Citations (1)
Title |
---|
See references of WO0169094A1 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017222463A1 (en) | 2017-12-12 | 2019-06-13 | Robert Bosch Gmbh | Valve electronics and valve arrangement |
Also Published As
Publication number | Publication date |
---|---|
US6901315B2 (en) | 2005-05-31 |
US20030078697A1 (en) | 2003-04-24 |
WO2001069094A1 (en) | 2001-09-20 |
EP1264110B1 (en) | 2004-08-25 |
DE10012405A1 (en) | 2001-09-20 |
DE50103399D1 (en) | 2004-09-30 |
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