EP1721081A1 - Ventilansteuerung von hydraulischen aktoren auf basis elektrorheologischer flüssigkeiten - Google Patents
Ventilansteuerung von hydraulischen aktoren auf basis elektrorheologischer flüssigkeitenInfo
- Publication number
- EP1721081A1 EP1721081A1 EP05715527A EP05715527A EP1721081A1 EP 1721081 A1 EP1721081 A1 EP 1721081A1 EP 05715527 A EP05715527 A EP 05715527A EP 05715527 A EP05715527 A EP 05715527A EP 1721081 A1 EP1721081 A1 EP 1721081A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- valves
- valve
- control
- electrorheological
- pressure medium
- 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
- F15B21/06—Use of special fluids, e.g. liquid metal; Special adaptations of fluid-pressure systems, or control of elements therefor, to the use of such fluids
- F15B21/065—Use of electro- or magnetosensitive fluids, e.g. electrorheological fluid
-
- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/006—Hydraulic "Wheatstone bridge" circuits, i.e. with four nodes, P-A-T-B, and on-off or proportional valves in each link
Definitions
- valves are divided into switching and continuous valves.
- Continuous valves are valves in which the output variable (e.g. valve spool travel, pressure, etc.) is proportional to the input signal (e.g. control voltage). The operation can be done manually / mechanically / pressure / electrically and electronically.
- Continuous valves are also often referred to as proportional, control and servo valves, with the differences in the accuracy and the use of the valves being justified.
- valves based on electrorheological / magnetorheological fluids that can be assigned to the class of continuous valves based on their properties.
- a double-acting cylinder is generally controlled via a 4/3 servo valve, the volume flow in the 4/3 servo valve being changed by an electromechanical converter.
- the electromechanical converter (as well as the subsequent hydraulic intermediate stages) generally represents the component that limits the dynamics of the valve.
- the system consisting of servo valve and cylinder, can be described as a one-size system with the input variable i v (current through the servo valve) or with negligible dynamics of the servo valve x v (position 4/3 servo valve) and the output variable s (position of the cylinder) become.
- the volume flows into the cylinder chambers qi and q 2 cannot be used independently of one another as manipulated variables. Therefore The mathematical model of the cylinder loses properties that prevent the applicability of certain controller design processes.
- the chamber pressures pi and p 2 in the cylinder are set so that the force on the piston caused by the chamber pressures is equal to the load force in the stationary state.
- the absolute values of the pressures pi and p 2 themselves cannot be influenced in a targeted manner.
- Electrorheological valves are usually constructed from coaxial cylinder electrodes or from arrangements of parallel plates between which the electrorheological fluid flows.
- the effective viscosity of the electrorheological fluid located between the electrodes and thus the flow resistance through the valve gap can be controlled by electrical voltage applied to the electrodes or by the electrical field generated thereby. If the pressure difference is present, the volume flow through the valve can be varied from fully opening (normal-viscous flow) to completely blocking (solid body).
- the principle of action is based on the fact that the particles of the electrorheological fluid form chains when an electric field is applied, which impede the flow and thus change the flow resistance.
- valves based on electrorheological / magnetorheological fluids are constructed more simply because they have no moving mechanical parts such as shut-off bodies.
- Another advantage is that electrical signals can be implemented directly, so that very fast switching times can be achieved with electrorheological fluid valves and thus a significantly higher dynamic of the overall system, for example consisting of cylinders with an electrorheological valve, is achieved.
- the electrorheological effect is an inherently non-linear phenomenon.
- hysteresis occurs in certain operating areas. The electrorheological effect is described in more detail, for example, in the literature listed below:
- each cylinder chamber is assigned a half-bridge circuit consisting of two valves based on electrorheological and / or magnetorheological fluids.
- the four valves are connected to form a full bridge, in the transverse branch of which the hydraulic actuator (cylinder) is located.
- valves are controlled in such a way that the four valves have a common middle electrical one
- Voltage u and a differential voltage ⁇ u can be controlled, ie the electrical voltage u + Au is present at the valves a and d, while the electrical voltage u - Au is present at the valves b and c.
- the mean voltage u is chosen so that the valve works in a middle working point.
- the voltage Au now roughly corresponds to the position x v of the 4/3 servo valve compared to conventional 4/3 servo valves.
- the electrorheological full bridge thus simulates the behavior of a 4/3 servo valve with a
- the object of the present invention is to prevent the disadvantages mentioned at the outset and to provide a valve control for actuators based on electrorheological fluids, which enables control and regulation processes with extremely high dynamics.
- valves assigned to the actuator can be controlled independently of one another.
- the virtual ones are used to control the valves in a full-bridge circuit. Actuating variables qi, q 2 and q q , i and q q , 2 or q ⁇ , q ⁇ and q q , i and q q , 2 are used for the distribution of the valve volume flows q a , q b , q Cr ⁇ 3d.
- the 4 electrical voltages for controlling the 4 valves are calculated on the basis of the above-mentioned manipulated variables, which are much more suitable for the controller design.
- the chamber pressures can be regulated very easily.
- q q , ⁇ and q q , 2 serve as manipulated variables for the supply pressure control and prevent the valves from being completely blocked since they ensure a minimum volume flow.
- q s and q ⁇ are considered Control variables are used for decoupled control of the total pressure and the position or speed of the piston.
- all linear and / or nonlinear and / or adaptive single and multivariable control methods can be used with or without a cascade structure.
- valves assigned to an actuator and connected to form a half-bridge can be controlled independently of one another and are used as a basis for controlling the manipulated variables q x and q q , ⁇ for the distribution of the valve volume flows q a and q b become.
- Fig. 1 shows a schematic diagram of an actuator 1 based on electrorheological fluids consisting of a cylinder 2, which in the transverse branch 3 one of four valves a, b, c, d based on electrorheological / magnetorheological Liquids existing full bridge is connected.
- the cylinder 2 is shown in the exemplary embodiment as a synchronous cylinder, but it could be used from any other cylinder design.
- the cylinder 2 has a cylinder housing 4 with an axially displaceably mounted piston 5.
- the piston 5 divides the cylinder housing 4 into a first and a second volume-variable working chamber 6, 6 '.
- the inlet / outlet opening of the first or second working chamber 6, 6 ' is each coupled to a fluid line 7, 7' arranged in the transverse branch 3 of the full valve bridge circuit.
- Each working chamber 6, 6 'of the cylinder 2 is thus assigned a half-bridge circuit consisting of two valves a, b / c, d based on electrorheological / magnetorheological liquids.
- the valves a, b assigned to the first working chamber 6 are, as can be seen from the illustrations, in a first longitudinal branch 8 of FIG.
- the valves c, d assigned to the second working chamber 6 ' are arranged in a second longitudinal branch 8' of the full-bridge circuit.
- the full bridge circuit of the valves a, b, c, d is between the fluid connection of the valves a, c with a
- Supply pressure line 9 linked.
- the supply pressure is provided via a pump / storage arrangement not described here in detail. Since valves based on electrorheological / magnetorheological fluids can flow in the direction of the pressure difference in a stationary manner, the connection described above is necessary to form a full bridge. The direction of flow of the volume flows is shown in FIG. 1 by the arrows.
- the valves b, d are coupled to a tank 10. Valves based on electrorheological / magnetorheological liquids are known in a large number of embodiments.
- the valve based on electrorheological liquids basically consists of a valve gap formed in a housing, which is delimited by electrically controllable electrode arrangements, so that an electrorheological liquid flowing through the valve gap can be changed with regard to the rheological properties by changing the electrical field generated between the electrode arrangements.
- an electric field can be generated and, with the pressure difference present, the volume flow through the valve can be varied.
- the valve thus represents an electrically adjustable throttle, which is shown schematically in the drawing in FIG. 1.
- An essential core point of the invention is that the four degrees of freedom of the valves a, b, c, d are optimally used on the basis of electrorheological / magnetorheological liquids in the full bridge.
- the pressures in the two working chambers can be regulated.
- This can also be used as a lower-level control loop in a cascade controller structure, while in a higher-level control loop actual controlled variable (e.g. the position of the cylinder s or the pressure force) is controlled.
- valves a, b, c, d are always operated with a minimum volume flow. It is essential that the minimum volume flow through the valves a and b (q q , ⁇ ) or c and d (q q , 2 ) are of the same size, because then the volume flows qi and q 2 are not influenced thereby.
- the minimum volume flow through the first longitudinal branch 8 is referred to below as q q , ⁇ , the minimum volume flow through the second longitudinal branch 8 'as q q , 2 .
- the electrical voltages of the valves can now be clearly defined on the basis of the four valve volume flows (and the associated pressure drops).
- the four electrical voltages on the valves are the actual manipulated variables of the actuator.
- the manipulated variable transformation listed above has the advantage that the total volume flow q ⁇ can directly influence the total pressure and the differential volume flow q ⁇ can directly influence the position or speed of the piston or the force on the piston.
- controller 11 are the
- Block valve control 12 are given from the
- valve volume flows q a , q b , c? d calculated using the equations listed above as a function of the manipulated variables q x and q 2 or q ⁇ and q ⁇ .
- valves a, b, c, d are calculated from the valve volume flows. These values (the real manipulated variables) are fed to the high-voltage amplifier 14.
- the valves (represented here by block 15) are now activated in accordance with the calculated voltages, so that the previously calculated valve volume flows q a , q b , q c , q d are established and the first working chamber 6 with the volume flow qi and the second working chamber 6 'are applied with the volume flow q 2 .
- the pressures pi and p 2 in the working chambers 6, 6 ' which occur as a function of the volume flows qi and q 2 and are referred to below as state variables are recorded in or on the cylinder 2, ie measured or observed by means of appropriate sensors.
- the captured State variables 16 such as pressures, displacement of the piston and / or speed or forces are supplied to controller 11 as actual variables and compared with the predetermined target variables. A corresponding control deviation is corrected accordingly.
- the pressure supply is shown as block 17 in the schematic illustration.
- the full valve bridge circuit 15 is supplied with the predetermined supply volume flow 18 via the supply pressure line.
- valve actuation of hydraulic actuators according to the invention which was described above using a full-bridge circuit, can also be used for a half-bridge circuit. In this case, only qi for a working chamber /
- Pressure medium chamber and q q , ⁇ can be used as the minimum volume flow of the longitudinal branch of the half-bridge. From these manipulated variables, the volume flows for valves a and b are then divided into q a and q b analogously.
Landscapes
- 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)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200410010532 DE102004010532A1 (de) | 2004-03-04 | 2004-03-04 | Ventilansteuerung von hydraulischen Aktoren auf Basis elektrorheologischer Flüssigkeiten |
PCT/EP2005/001975 WO2005085654A1 (de) | 2004-03-04 | 2005-02-25 | Ventilansteuerung von hydraulischen aktoren auf basis elektrorheologischer flüssigkeiten |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1721081A1 true EP1721081A1 (de) | 2006-11-15 |
EP1721081B1 EP1721081B1 (de) | 2008-12-03 |
Family
ID=34917068
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05715527A Not-in-force EP1721081B1 (de) | 2004-03-04 | 2005-02-25 | Ventilansteuerung von hydraulischen aktoren auf basis elektrorheologischer flüssigkeiten |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1721081B1 (de) |
DE (2) | DE102004010532A1 (de) |
WO (1) | WO2005085654A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005009952A1 (de) * | 2005-03-04 | 2006-09-07 | Bayerische Motoren Werke Ag | Fahrzeug-Servolenksystem der Closed-Center-Bauart |
DE102014011541B4 (de) | 2014-08-08 | 2016-04-07 | Fludicon Gmbh | Elektrorheologischer Aktor |
DE202015102095U1 (de) * | 2015-04-27 | 2016-08-01 | Bürkert Werke GmbH | Ventilaktor, Aktorsystem und Ventil |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3614484A1 (de) * | 1986-04-29 | 1987-11-05 | Bosch Gmbh Robert | Elektrohydraulischer wandler |
GB9613239D0 (en) * | 1996-06-25 | 1996-08-28 | Er Fluid Dev | Improvements in or relating to high speed actuators and vibrators based on electro-rheological fluids |
DE19735466B4 (de) * | 1997-08-16 | 2007-06-28 | Fludicon Gmbh | Druckmittelmotor für elektrorheologische Flüssigkeiten |
DE19810921C2 (de) * | 1998-03-13 | 2000-02-24 | Karlsruhe Forschzent | Elektrorheologischer hydraulischer Mikroaktor |
DE19904530A1 (de) * | 1999-02-04 | 2000-08-10 | Bayerische Motoren Werke Ag | Variabler Stoßabsorber mit Sicherheitsfunktion |
DE19955959A1 (de) * | 1999-11-19 | 2001-05-23 | Schenck Pegasus Gmbh | Druckmittelmotor auf Basis elektrorheologischer Flüssigkeiten |
DE10030079A1 (de) * | 2000-06-19 | 2002-01-24 | Schenck Ag Carl | Zylinder-Kolben-Anordnung auf Basis elektrorheologischer/magnetorheologischer Flüssigkeiten |
-
2004
- 2004-03-04 DE DE200410010532 patent/DE102004010532A1/de not_active Withdrawn
-
2005
- 2005-02-25 DE DE502005006134T patent/DE502005006134D1/de active Active
- 2005-02-25 WO PCT/EP2005/001975 patent/WO2005085654A1/de active Application Filing
- 2005-02-25 EP EP05715527A patent/EP1721081B1/de not_active Not-in-force
Non-Patent Citations (1)
Title |
---|
See references of WO2005085654A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2005085654A1 (de) | 2005-09-15 |
DE102004010532A1 (de) | 2005-12-15 |
EP1721081B1 (de) | 2008-12-03 |
DE502005006134D1 (de) | 2009-01-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102009052285B4 (de) | Digital-Hydraulik-Ventil | |
DE2830332A1 (de) | Elektro-hydraulische ventileinheit | |
EP3254166B1 (de) | Proportionalventil | |
EP2435713B1 (de) | Verfahren zum entfernen von fremdstoffen aus einem digitalhydraulischen druckregler eines hydrauliksystems | |
EP2644904A1 (de) | Verfahren zur Ansteuerung eines fluidisch betriebbaren Arbeitssystems sowie Arbeitssystem | |
WO2009062564A1 (de) | Hydraulische ventilvorrichtung | |
EP0471884A1 (de) | Elektrohydraulisches Servoventil | |
EP1315060A1 (de) | Verfahren zur kontinuierlichen Regelung einer Stellung eines Stellventils | |
EP1721081A1 (de) | Ventilansteuerung von hydraulischen aktoren auf basis elektrorheologischer flüssigkeiten | |
EP1624168A2 (de) | Verfahren zur stufenlosen Stellungsregelung eines Pneumatikzylinders sowie Pneumatikzylinder | |
DE2436891A1 (de) | Logische fluidumsteuervorrichtung | |
EP2435715B1 (de) | Digitalhydraulischer regler | |
DE102019204497B3 (de) | System und Verfahren | |
DE2713802C2 (de) | Vorrichtung zum Regeln der kontinuierlichen Zufuhr eines hydraulischen oder pneumatischen Antriebsmittels | |
DE1948928C3 (de) | Fluidikschaltung für eine Servoeinrichtung mit einem doppelt wirkenden druckmittelbetätigten Arbeitskolben | |
DE102018219365A1 (de) | Hydromaschine, Steuerungsanordnung, Hydraulisches System und Verfahren | |
EP2702460B1 (de) | Pneumatisches ventil und seine verwendung für einen angeschlossenen verbraucher | |
DE102014003084A1 (de) | Digitalhydraulisches Antriebssystem | |
DE69410372T2 (de) | Multiplexerventil | |
DE3040521C2 (de) | ||
WO2021233641A1 (de) | Lastsimulationsprüfstand und kapazitätselement für einen lastsimulationsprüfstand | |
DE102014220743A1 (de) | Pneumatischer Positionierantrieb, Verfahren zum Betrieb | |
DE4417153C1 (de) | Schaltungsanordnung und Verfahren zum Regeln der Lage eines ventilgesteuerten hydraulischen Stellglieds | |
DE102020213262A1 (de) | Verfahren zum Betreiben eines hydraulischen Antriebs | |
WO2011003210A1 (de) | Anordnung zur bereitstellung eines veränderbaren drosselquerschnitts für einen fluidstrom |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20060914 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): DE FR GB IT |
|
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: KUGI, ANDREAS Inventor name: KEMMETMUELLER, WOLFGANG Inventor name: ADENSTEDT, RALF |
|
17Q | First examination report despatched |
Effective date: 20070129 |
|
DAX | Request for extension of the european patent (deleted) | ||
RBV | Designated contracting states (corrected) |
Designated state(s): DE FR GB IT |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): DE FR GB IT |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D Free format text: NOT ENGLISH |
|
REF | Corresponds to: |
Ref document number: 502005006134 Country of ref document: DE Date of ref document: 20090115 Kind code of ref document: P |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
26N | No opposition filed |
Effective date: 20090904 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 12 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 13 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FR Payment date: 20170227 Year of fee payment: 13 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R082 Ref document number: 502005006134 Country of ref document: DE Representative=s name: PATENT- UND RECHTSANWAELTE VOELGER & BEHRENS, DE Ref country code: DE Ref legal event code: R081 Ref document number: 502005006134 Country of ref document: DE Owner name: HITACHI AUTOMOTIVE SYSTEMS EUROPE GESELLSCHAFT, DE Free format text: FORMER OWNER: FLUDICON GMBH, 64293 DARMSTADT, DE Ref country code: DE Ref legal event code: R081 Ref document number: 502005006134 Country of ref document: DE Owner name: HITACHI AUTOMOTIVE SYSTEMS EUROPE GMBH, DE Free format text: FORMER OWNER: FLUDICON GMBH, 64293 DARMSTADT, DE |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: GB Payment date: 20170227 Year of fee payment: 13 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: IT Payment date: 20170228 Year of fee payment: 13 |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: 732E Free format text: REGISTERED BETWEEN 20170622 AND 20170628 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20170426 Year of fee payment: 13 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: TP Owner name: HITACHI AUTOMOTIVE SYSTEMS EUROPE GMBH, DE Effective date: 20170920 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R119 Ref document number: 502005006134 Country of ref document: DE |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20180225 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: ST Effective date: 20181031 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20180901 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20180225 Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20180228 Ref country code: IT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20180225 |