EP1812718B1 - Diagnosevorrichtung für wenigstens eine pneumatische ventil-aktuator-anordnung - Google Patents

Diagnosevorrichtung für wenigstens eine pneumatische ventil-aktuator-anordnung Download PDF

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Publication number
EP1812718B1
EP1812718B1 EP04803190A EP04803190A EP1812718B1 EP 1812718 B1 EP1812718 B1 EP 1812718B1 EP 04803190 A EP04803190 A EP 04803190A EP 04803190 A EP04803190 A EP 04803190A EP 1812718 B1 EP1812718 B1 EP 1812718B1
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EP
European Patent Office
Prior art keywords
diagnostic
pressure
diagnostic module
values
diagnostic device
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Not-in-force
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EP04803190A
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German (de)
English (en)
French (fr)
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EP1812718A1 (de
Inventor
Jan Bredau
Reinhard Keller
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Festo SE and Co KG
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Festo SE and Co KG
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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
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/005—Fault detection or monitoring

Definitions

  • the invention relates to a diagnostic device for at least one pneumatic valve-actuator assembly, comprising a pressure sensor, a volumetric flow sensor, a control device for generating control signals for the valve-actuator assembly and position sensors for detecting the position of at least one movable actuator member.
  • Such diagnostic devices are for example from the DE 19628221 C2 or the DE 10052664 A1 known and serve in particular for process monitoring.
  • stored reference curves for the pressure, for example, on an actuator, and / or for the volume flow of the Pneumatikmediüms with currently measured pressure curves and flow curves are compared, with transgressions of predetermined tolerances lead to diagnostic messages.
  • the known devices are only suitable for determining the fault location, that is to say which valve or which actuator or which valve-actuator arrangement has a malfunction. However, the exact nature of the malfunction can not be determined in the known devices.
  • a diagnostic device according to the preamble of claim 1 is made US 2004/39488 A1 known.
  • An object of the present invention is to provide a diagnostic device for such valve-actuator attachments create, by which the type of error occurred can be detected and reported.
  • the advantages of the diagnostic device according to the invention are, in particular, that errors that occur can be determined precisely while avoiding complex mathematical models and with relatively low required sensor technology.
  • the generated diagnostic messages provide clear information about the type and location of the fault in the valve-actuator assembly. Through the interaction of different diagnostic modules and in particular by the order of execution of clear error statements can be made and error detection can be avoided.
  • the third diagnostic module is used to detect load and friction changes in a movable actuator member, wherein a fourth diagnostic module for detecting valve switching errors is provided, which is deactivated in an error detection by the third diagnostic module. This is to distinguish these two types of errors safely.
  • the first diagnostic module is designed for monitoring the pressure medium of the pressure sensor in a closed, pressurized chamber of the actuator while preferably detected by position sensors pause phases. These can thereby be advantageously used for diagnosis.
  • the first diagnostic module has means for determining the pressure gradient and / or the leakage volume flow and / or the Strömungsleitivess for the leakage point and comparison means for comparison with reference values, the exceeding of which generates a leakage message. From this even quantitative data can be determined. Taking into account the fact that in an internal leak (for example, defective piston seal) the leakage path is getting smaller, while it remains almost constant over an external leak over the measuring time, can also be distinguished by appropriate evaluation internal and external leakage.
  • the recognition of a throttling in the valve-actuator arrangement is advantageously carried out by the second diagnosis module, which in each case has the flow conductance during movement phases of the movable actuator member detected by the position sensors.
  • the second diagnostic module thus operates alternately to the first diagnostic module, which operates in the pause phases.
  • the second diagnostic module expediently has means for calculating the mean value of the flow conductance during the movement of the actuator member, wherein comparison means for checking this mean value are provided for deviations from at least one reference value which generate a message about an irregular throttling from a predefinable limit value deviation. Since the temperature not insignificantly influences the flow conductance, switching means are provided which deactivate the second diagnostic module when a predeterminable limit temperature or extreme temperature changes are exceeded.
  • the third diagnostic module serving to detect load and friction changes in the movable actuator member is preferably designed to monitor one of the following pressure values for deviations from predefinable standard pressure values: maximum pressure between actuation signal and corresponding start of the movement phase from one end position, mean pressure during the movement phase when filling an actuator chamber, mean pressure during the movement phase when this actuator chamber is emptied. If all these pressure values are recorded, a large number of possible errors with regard to load and friction changes can be distinguished. Only the signal of the pressure sensor and position sensors for motion detection is needed.
  • a preferred type of evaluation is performed by means for calculating the equivalent force values and for determining and evaluating difference values with respect to corresponding standard values.
  • the fourth diagnostic module used for the detection of valve switching errors only comes into operation if all other diagnostic modules do not generate diagnostic messages. Only then can safely be closed valve switch error.
  • the time of the pressure increase from a corresponding valve switching signal to a predeterminable percentage value of its pressure end value and / or the time of the pressure reduction from a corresponding valve switching signal to a predefinable reduced percentage value of its pressure end value is advantageously monitored.
  • the fourth diagnostic module has means for detecting the pressure end value in the filled actuator chamber and standstill of the actuator.
  • the fourth diagnostic module has means for time recording the pressure rise and / or pressure reduction times and for determining the difference value Standard times that generate a diagnostic message when the specified difference values are exceeded.
  • a further improvement and completion of the diagnosis can still be achieved by a permanently operating fifth diagnostic module, which is designed for monitoring the air consumption and / or the pressure level and / or positioning times and cycle times, wherein switching means for deactivating the at least one third diagnostic module in an error detection serve through the fifth diagnostic module.
  • the fifth diagnostic module expediently has comparison means for comparison with corresponding reference values, for detecting deviations from the reference values and for checking the deviations to exceed predefinable limit values, which lead to a diagnostic message.
  • valve actuator assembly consists of a schematically illustrated pneumatic cylinder 10 in which a provided with a piston rod 11 piston 12 is slidably and pneumatically driven.
  • This pneumatic cylinder 10 represents a possible embodiment of an actuator, although other types of actuators, such as different types of linear drives, actuators, rotary drives and the like, are possible.
  • valve 13 For actuating the piston 12 is a valve 13, which may be formed for example as a 5/2 or 5/3 switching valve.
  • This valve 13 is connected to a pressure supply line 14 for supplying a working pressure p.
  • the piston 12 Via lines 15, the piston 12 can be acted upon depending on the valve position on one side or the other with the pressure so that it can move controlled in the two directions of movement.
  • a switching valve can in principle also be provided a proportional valve, wherein the respective valve can also be integrated in or on the pneumatic cylinder.
  • throttle check valves 16 are connected in the usual way.
  • a volume flow sensor 17 and a pressure sensor 18 for detecting the pneumatic pressure in the piston rod side cylinder chamber 19 are still arranged.
  • the volume flow sensor 17 and the pressure sensor 18 may also be connected to the opposite cylinder chamber 20.
  • An electronic control device 21 serves to control the valve 13 and thus the movement and position of the piston 12 in the pneumatic cylinder 10.
  • This electronic control device 21 is provided with a diagnostic electronics 22, wherein the diagnostic electronics 22 integrated in the electronic control device 21 or can be äusge strict as a separate device.
  • the pressure sensor 18 and the volume flow sensor 17 and position sensors 23, 24 for detecting the end position or end positions of the piston 12 are connected to inputs of the diagnostic electronics 22.
  • the control signals of the electronic control device 21 for the valve 13 are also supplied to the diagnostic electronics 22, in the illustrated integrated form by internal supply.
  • Errors, malfunctions or defects detected by means of the diagnostic electronics 22 can be displayed and / or registered.
  • the diagnostic electronics 22 or the electronic control device 21 may have a corresponding fault memory.
  • the diagnostic electronics 22 on the output side connected to a display 25 and a printer 26 to display or print diagnostic messages can.
  • These serving as display devices for diagnostic message devices can of course be replaced by other and simpler devices, such as an LED error display, through which the various types of errors can be displayed.
  • FIG. 2 the diagnostic device is shown schematically with regard to the diagnostic procedure and the diagnostic functions. What is essential is the interaction of the individual diagnostic modules M1 to M5 or the sequence of their processing in order to make clear error statements. Essential here is the targeted evaluation of the diagnostic information from the individual diagnostic modules M1 to M5 for a pneumatic subsystem, which in the exemplary embodiment according to FIG. 1 is realized by a valve-actuator arrangement 10, 13 is.
  • the diagnostic modules M1 to M5 monitor the valve-actuator arrangement for frequently occurring qualitative and quantitative errors.
  • the diagnostic modules according to FIG. 2 are basically only activated if the operating pressure p does not deviate from a reference pressure by more than specified tolerances.
  • the diagnostic modules M1 and M2 are started to check the subsystem for leaks or restrictions in the working line. These two modules are permanently active with the above restriction because they always provide clear statements. If there are no leaks or throttling, the M3 module is activated to monitor changed loads or friction. If this module does not provide any deviations from specified reference standards, the module M4 can be activated for the detection of valve faults. If an error occurs in this chain, the following module is always deactivated. This is schematically represented by switches 27, 28. This sequence ensures that the diagnostic modules always make clear error statements.
  • the diagnostic module M5 works constantly. This module M5 monitors the cycle and travel times, the pressure and the air consumption for deviations. Irrespective of the type of fault, faults in the subsystem are detected that are noticeable in the travel times or the pressure or the volume flow. Thus, errors are also detected as faults which can not be unambiguously assigned to the faults in the diagnostic modules M1 to M4.
  • the NOR operation 29 causes the diagnosis modules M3 and M4 to be activated only if the diagnosis modules M1, M2 and M5 do not report any errors or disturbances. As already stated, the diagnostic module M4 has the additional condition that the diagnostic module M3 does not detect any errors or malfunctions.
  • the side under the pressure p1 is shut off during pause phases in which the piston 12 is in one of its two end positions. In the illustrated embodiment, this is the cylinder chamber 19, since it is connected to the pressure sensor 18.
  • the pressure gradient ⁇ p / ⁇ t is determined.
  • the pressure difference is then determined from the difference between the initial value and the final value.
  • the calculated leakage current changes over time as the pressurized cylinder chamber 19 deflates.
  • the pause phases or measuring time are detected by limit switch signals and by knowledge of the sequence of execution. If the supply pressure p drops below a predeterminable minimum value, for example 2 bar, then the formula for calculating the conductance is no longer valid and the measuring process is aborted.
  • the size of the master value reference can be adjusted individually.
  • An additional evaluation allows the distinction between an internal leakage at the piston, for example in case of leaking or defective piston seal, and an external leakage, for example, by leaking or defective piston rod seal or defective hoses or lines.
  • venting takes place in the other cylinder chamber.
  • the pressure drop is relatively large at the beginning, and with increasing pressure increase in the filling chamber, the leakage current and the C value is getting smaller, until the volume flow and C value go to zero at pressure balance. This is a clear indication of internal leakage.
  • the reference pressure p n ⁇ * ⁇ N * T * R
  • T is the reference temperature, and the operating temperature can be used for estimation.
  • the detection of an increasing or decreasing throttling is based on the use of the pressure signal p1 and the volume flow q in the relevant working line.
  • the sensor is doing according to FIG. 1 arranged on the piston rod side, that is connected to the cylinder chamber 19.
  • the diagnostic module M2 determines whether there is a restriction in the entire line starting from the valve 13 to the connection to the cylinder chamber 19.
  • causes of an increasing or decreasing throttling are, for example, an open or closed outlet throttle, a kinked hose, blockages in the hose, icing, throttling in the connecting line of the pneumatic cylinder 10, not completely opening valve.
  • a conductance C is determined as the diagnosis value from the pressure p1 and the volume flow q.
  • This C-value is a measure of the area flowed through and is compared with a reference value for fault diagnosis.
  • the extension and / or the retraction direction of the actuator can be used. Sufficient is a movement phase.
  • the equation describes the conditions for subcritical operating conditions in which pu / p1> b.
  • T N is the standard temperature and T B is the temperature in the pressure chamber, which can be approximately equated to the operating temperature. If there are no extreme temperature changes, the temperature is not taken into account for the diagnosis. If the temperature changes significantly, the diagnostic module M2 is deactivated.
  • an average value is calculated from the calculated conductance C and compared with a reference conductance. The difference between the measured value and the reference master value is compared with a maximum permissible tolerance value, the exceeding of which results in a diagnostic message indicating that the throttling is too great or too small.
  • the conductance is determined during the movement of the piston 21, for which purpose the two limit switch signals of the position sensors 23, 24 are used.
  • the diagnostic module M3 is used to detect load and friction changes on the actuator, ie on the pneumatic cylinder 10 or on the attached mechanism. As already stated, this module is activated only if it has been previously ensured that no restrictions or leaks have occurred Thus, the diagnostic modules M1 and M2 have found no errors, which also applies to the diagnostic module M5, which will be described. For this diagnosis, only the pressure sensor 18 is needed. For the calculation, the pressure build-up phase (filling of the cylinder chamber 19) and the movement phases (extension and retraction) can be used. These phases are described below.
  • phase 1 is the piston 21. This phase is defined from the switching signal on the valve 13, to the time at which the piston-12 moves from its end position.
  • Phase 2 is the travel phase in which the cylinder chamber 19 is filled.
  • Phase 3 is the travel phase in the opposite direction, ie in the direction X, in which the cylinder chamber 19 is emptied again.
  • phase 1 the occurring maximum pressure is determined. With the known piston effective area, the equivalent force F max is calculated. It is assumed that the second cylinder chamber 20 is vented at standstill of the piston or there prevails a constant pressure. From the measured pressure during the travel time in phase 2, a mean pressure is calculated, from which in turn an average equivalent force Fmed1 is calculated. The same applies to phase 3, in which an average equivalent force Fmed2 is again calculated. To calculate the mean pressure values, these are summed up and divided by the number of measured values. To obtain meaningful values, it is recommended to record the characteristic values over several cycles, the intermediate storage and subsequent generation of mean values.
  • the reference values can be entered manually or can be determined automatically. It should be noted that these reference values are recorded in the "good" condition of the cylinder (or another actuator or a system) or during retraction.
  • the diagnostic module 4 which is used to detect valve switching errors, is only activated if the other diagnostic modules do not report faults, faults or faults. If all these diagnostic modules M1 to M3 and M5 have shown no error and yet changes occur in the pressure build-up, this is due to a delayed or accelerated opening behavior of the valve 13. For detection, only the pressure sensor 18 in the respective working line is required. It is, as described in the diagnostic module 3, the pressure build-up phase used to measure the time of pressure rise. Then a diagnostic characteristic is formed, which characterizes the switching time. From the comparison of this switching time with a reference switching time can then be concluded that the correct or incorrect switching of the valve 13.
  • a measuring phase 1 begins when switching on the valve 13, ie with its switch-on signal, and ends with the movement start of the piston from its end position.
  • the pressure reduction or deaeration phase is used as measurement phase 2.
  • the measuring phase 2 begins when switching on or switching the valve 13, while the piston is in its end position.
  • the time is measured until the pressure has risen to a predetermined percentage value of its end value or maximum value.
  • the measured time values are compared with reference time values and again the formed difference values are checked for exceeding given tolerance values.
  • the end value or maximum pressure value of the filled chamber at standstill is required. This value can be measured and saved once, but can also be updated with each measurement.
  • the diagnostic module 5 works permanently. It requires the limit switch signals of the position sensors 23, 24 and the signals of the pressure sensor 18 and the volume flow sensor 17. In this module, the cycle and travel times, the pressure and the air consumption are formed and monitored for deviations. Irrespective of the type of error, this diagnostic module therefore detects faults in the monitored subsystem that are noticeable in the travel times or the positioning times or the pressure or consumption. Thus, errors can also be detected as failures that are not clearly attributable to the errors. are ordenable, which can be detected by the other modules. The respective measured values, ie positioning time, travel time, air consumption, maximum pressure value and average pressure value, are compared with corresponding reference values. From this, differential values are formed and checked for under- or exceeding of permissible tolerance values. In individual cases, this error micro detection can then be specified by the more exact error determination of the diagnostic modules M1 to M4.
  • the diagnostic modules M1 to M3 represent the most important diagnostic modules.
  • the diagnostic module M4 and / or M5 can also be dispensed with. It is included of course also possible to add additional diagnostic modules.
  • the diagnostic modules can in principle be designed as separate diagnostic circuits, but they are preferably designed as functional groups of a diagnostic program that runs either in the diagnostic electronics 22 or in the electronic control device 21 or a central control electronics.

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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)
  • Fluid-Driven Valves (AREA)
EP04803190A 2004-11-19 2004-11-19 Diagnosevorrichtung für wenigstens eine pneumatische ventil-aktuator-anordnung Not-in-force EP1812718B1 (de)

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PCT/EP2004/013157 WO2006056214A1 (de) 2004-11-19 2004-11-19 Diagnosevorrichtung für wenigstens eine pneumatische ventil-aktuator-anordnung

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EP1812718A1 EP1812718A1 (de) 2007-08-01
EP1812718B1 true EP1812718B1 (de) 2008-08-20

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US (1) US7620522B2 (zh)
EP (1) EP1812718B1 (zh)
JP (1) JP4707717B2 (zh)
CN (1) CN101061320B (zh)
AT (1) ATE405748T1 (zh)
DE (1) DE502004007932D1 (zh)
DK (1) DK1812718T3 (zh)
WO (1) WO2006056214A1 (zh)

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CN110296126A (zh) * 2019-07-12 2019-10-01 南通翔骜液压润滑设备有限公司 具备检测液压油的液压缸
CN110579345B (zh) * 2019-07-30 2021-07-06 浙江省泵阀产品质量检验中心（永嘉县质量技术监督检测研究院） 回转式阀门电动执行器综合测试装置
EP3772595B1 (de) * 2019-08-09 2023-08-02 Siko GmbH Sensoreinheit für fluidikzylinder und fluidikzylinder
JP7120511B2 (ja) * 2019-10-03 2022-08-17 Smc株式会社 異常検出システム及び異常検出方法
CN110763500B (zh) * 2019-11-04 2021-05-04 中国原子能科学研究院 用于风门性能测试的试验台及测试方法
CN111038423B (zh) * 2019-12-04 2021-06-04 珠海格力电器股份有限公司 一种气动控制方法、装置、计算机可读存储介质及车辆
JP7254745B2 (ja) * 2020-05-29 2023-04-10 Ckd株式会社 流体流路切換装置
CN112145504B (zh) * 2020-08-31 2022-03-25 广州明珞装备股份有限公司 一种夹具检测方法、系统、设备及存储介质
CN112628241A (zh) * 2020-12-29 2021-04-09 中国航空工业集团公司西安飞机设计研究所 一种飞机液压系统内泄漏检测装置及方法
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CN113482986B (zh) * 2021-06-23 2022-08-09 河北津西钢板桩型钢科技有限公司 液压控制阀的故障检测电路及设备
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DE102008062290A1 (de) * 2008-12-15 2010-06-24 Abb Technology Ag Verfahren zur Diagnose des Verschleißzustandes einer Ventilanordnung zur Steuerung eines Prozessmediumflusses
DE102008062289A1 (de) * 2008-12-15 2010-06-24 Abb Technology Ag Verfahren zur weg- und drucksensorischen Verschleißzustandsermittlung einer Ventilmechanik sowie eine solche nutzende Ventilanordnung
US8443821B2 (en) 2008-12-15 2013-05-21 Abb Technology Ag Method for determining the path and pressure wear condition of a valve mechanism and valve arrangement using such a valve
US8521334B2 (en) 2008-12-15 2013-08-27 Abb Technology Ag Method for diagnosing the state of wear of a valve arrangement for controlling the flow of a process medium
DE102008062292A1 (de) * 2008-12-15 2010-06-24 Abb Technology Ag Verfahren zur drucksensorischen Verschleißzustandsermittlung einer Ventilmechanik sowie pneumatisches Ventil
US8509952B2 (en) 2008-12-22 2013-08-13 Abb Technology Ag Method for position-dependent electronic wear state determination of a valve mechanism, and a pneumatic valve
RU2454575C1 (ru) * 2010-10-21 2012-06-27 Открытое акционерное общество "Омское машиностроительное конструкторское бюро" Способ определения утечек по уплотнениям пневмопривода двустороннего действия
DE102016200924B4 (de) 2016-01-22 2024-02-29 Festo Se & Co. Kg Verfahren und Steuerungseinrichtung zum Bestimmen eines Verschleißzustands
DE102016200924A1 (de) * 2016-01-22 2017-07-27 Festo Ag & Co. Kg Verfahren und Steuerungseinrichtung zum Bestimmen eines Verschleißzustands
WO2018153524A1 (en) * 2017-02-24 2018-08-30 Siemens Wind Power A/S Method and arrangement to detect an oil leakage between sections of a hydraulic cylinder
CN110300857B (zh) * 2017-02-24 2021-11-30 西门子歌美飒可再生能源公司 检测在液压缸的区段之间的油泄漏的方法和布置结构
US11549528B2 (en) 2017-02-24 2023-01-10 Siemens Gamesa Renewable Energy A/S Method and arrangement to detect an oil leakage between sections of a hydraulic cylinder
CN110300857A (zh) * 2017-02-24 2019-10-01 西门子歌美飒可再生能源公司 检测在液压缸的区段之间的油泄漏的方法和布置
DE102018116048A1 (de) * 2018-07-03 2020-01-09 Samson Aktiengesellschaft Diagnose von möglichen Ursachen für Veränderungen an einem Stellventil
DE102018116048B4 (de) * 2018-07-03 2020-10-01 Samson Aktiengesellschaft Diagnose von möglichen Ursachen für Veränderungen an einem Stellventil
DE102019214882A1 (de) * 2019-09-27 2021-04-01 Zf Friedrichshafen Ag Verfahren und Steuergerät zum Betreiben eines pneumatischen Druckstellersystems eines Getriebes
DE102020204735B3 (de) 2020-04-15 2021-07-22 Festo Se & Co. Kg System und Verfahren
DE102021210500A1 (de) 2021-09-21 2023-03-23 Festo Se & Co. Kg Ventilanordnung und Verfahren
DE102022133793A1 (de) 2022-12-19 2024-06-20 Festo Se & Co. Kg Verfahren zur Diagnose einer Prozessventil-Baueinheit und Diagnoseeinrichtung

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ATE405748T1 (de) 2008-09-15
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JP4707717B2 (ja) 2011-06-22
CN101061320A (zh) 2007-10-24
EP1812718A1 (de) 2007-08-01
WO2006056214A1 (de) 2006-06-01
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US20080065355A1 (en) 2008-03-13
DE502004007932D1 (de) 2008-10-02

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