EP2435715A1 - Digital hydraulic controller - Google Patents

Digital hydraulic controller

Info

Publication number
EP2435715A1
EP2435715A1 EP10713639A EP10713639A EP2435715A1 EP 2435715 A1 EP2435715 A1 EP 2435715A1 EP 10713639 A EP10713639 A EP 10713639A EP 10713639 A EP10713639 A EP 10713639A EP 2435715 A1 EP2435715 A1 EP 2435715A1
Authority
EP
European Patent Office
Prior art keywords
valve
digital hydraulic
controller
valve element
valve elements
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
Application number
EP10713639A
Other languages
German (de)
French (fr)
Other versions
EP2435715B1 (en
Inventor
Arto Ikonen
Eero Suomi
Ville Hopponen
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.)
Valmet Technologies Oy
Original Assignee
Metso Paper Oy
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 Metso Paper Oy filed Critical Metso Paper Oy
Publication of EP2435715A1 publication Critical patent/EP2435715A1/en
Application granted granted Critical
Publication of EP2435715B1 publication Critical patent/EP2435715B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
    • F15B11/0426—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in" by controlling the number of pumps or parallel valves switched on
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40507—Flow control characterised by the type of flow control means or valve with constant throttles or orifices
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40576—Assemblies of multiple valves
    • F15B2211/40592—Assemblies of multiple valves with multiple valves in parallel flow paths
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/41—Flow control characterised by the positions of the valve element
    • F15B2211/411—Flow control characterised by the positions of the valve element the positions being discrete
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/42—Flow control characterised by the type of actuation
    • F15B2211/426—Flow control characterised by the type of actuation electrically or electronically
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/455—Control of flow in the feed line, i.e. meter-in control
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/46—Control of flow in the return line, i.e. meter-out control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/87917—Flow path with serial valves and/or closures

Definitions

  • the invention relates to a controller which is particularly useful in a hydraulic system for a machine for making a fibrous web, e.g. a paper or board machine, is usable.
  • actuators are hydraulically driven, with which large forces can be set and exercised with high accuracy.
  • a working fluid e.g. Hydraulic oil used
  • a pump which pressurizes the working fluid
  • a hydraulic actuator e.g. a hydraulic cylinder or hydraulic motor
  • a proportional control valve or proportional valve which may be electrically, hydraulically, or pneumatically driven.
  • Such a control valve has a displaceable or shiftable spool or spool which, in response to its location in an associated valve housing, can set a desired pressure at the outlet by adjusting the pressure downshifted by the pump supplied hydraulic oil.
  • the mobility of the control piston in the valve housing necessarily requires a certain clearance or gap between the control piston and valve housing, so that an internal leakage of the control valve is unavoidable.
  • the gap size must not be too narrow, otherwise the valve would be too susceptible to contamination in the hydraulic oil.
  • a digital hydraulic pressure regulator consists of a series of valves connected in parallel, which have only ON / OFF functions; So simple ON / OFF switching valves are that allow or interrupt a flow and can be consistently referred to in this application as valves.
  • the valves are all connected to a common supply line on the one hand and to a common output line on the other.
  • the valves themselves may be conventional solenoid valves, ie valves with electromagnetic drive. Of course, other forms of drive can be chosen.
  • valve elements which have a switching valve function and a rigid throttle function
  • the representation of the control curve is done by switching suitable combinations of the valve elements at the same time. If a single valve element stops working, the accuracy of the control decreases but the control function remains.
  • the object of the invention is to propose a digital hydraulic controller which ensures a high control precision even with failure of a valve element with simple means.
  • valve elements with low flow rates ie the small flow cross-sections, are of decisive importance for the precision of the control and that these valve elements are also those valve elements which are most frequently actuated.
  • a digital hydraulic controller has at least two valve element rows, of which one valve element row can connect a supply line to a controller output and the other valve element row can connect the controller output to an outlet line.
  • the valve elements of each valve element series are connected in parallel and can be switched individually or in different combinations with each other at the same time. At least some of the valve elements of a valve element row have a different flow cross section.
  • at least the valve element of each valve element row, which has the smallest flow cross-section is double in the valve element row. In this way, it is ensured that in the case of failure of the valve element with the smallest flow cross section by redundancy of this function, a consistent control quality is maintained.
  • valve elements actually have slightly different flow cross-sections or pass through different flows. These differences can be exploited in a digital hydraulic controller to the effect that when selecting a switching combination of valve elements for a controller intervention, the more suitable of the two valve elements smallest flow is selected. This allows the regulation to be further refined.
  • the valve elements are composed of an electromagnetic switching valve and a throttle provided on the valve.
  • the throttles can be made by simple bores and can then be combined with always the same valves. In this way, the elements that have moving parts and thus are susceptible to interference, always the same. This makes both the construction cheaper and simplifies the stocking of spare parts.
  • valve elements are combined with different flow cross-sections within a series of valve elements so that they have a step by step from valve element to valve element increasing flow cross-section.
  • the flow cross-section is doubled from stage to stage.
  • the flow cross sections form a binary row in which the smallest flow cross-section is 1 and the other flow cross-sections 2, 4, 8 and 16 and so on.
  • the digital hydraulic controller according to the invention is preferably designed such that switching valves and throttles are designed and suitable for use with liquids, in particular for hydraulic oil; Alternatively, switching valves and throttles for use with gases, in particular for compressed air, designed and suitable.
  • the switching valves may be electromagnetically driven valves.
  • the controller may be connected to a control unit which controls the switching valves or the switching valve combinations to open, wherein the controller can control the controller as a pressure regulator or as a flow regulator.
  • the invention is applicable to a system unit with a differential cylinder and a digital hydraulic controller, in which the regulator has four rows of valve elements, two of which with their common regulator output with a cylinder-side pressure chamber of the
  • Differential cylinders are connected, while the other two valve element rows are connected with their common regulator output to a piston rod-side pressure chamber of the differential cylinder.
  • a flow sensor can be arranged in a line leading from the controller output to the cylinder-side pressure chamber.
  • the flow sensor can be used as a position sensor, as will be described later.
  • a differential cylinder i. a double-acting hydraulic cylinder with two each bounded by a piston side chambers
  • force generated only the pressure in one chamber of the cylinder, while in the other chamber ambient pressure or the pressure in the storage tank (tank pressure) prevails.
  • the pressure in the piston-side chamber is increased, otherwise, if the cylinder is to "pull” (eg, retract the piston rod), the pressure in the rod-side chamber is increased ,
  • control In the case of a load change from push to pull or vice versa, the control necessarily passes through a state (dead area) in which no force is exerted by the cylinder, in which state both chambers have tank pressure. In this condition both chambers are connected to the tank and the piston is in a sense loose or free.
  • the controller can be designed so that the pressures select so that the higher of the two chamber pressures is only slightly below the supply pressure. As a result, regardless of the forces to be generated, regulation is always carried out in the area of best control precision.
  • This digital hydraulic technique can also be used to adjust the aperture of a headbox nozzle (slot nozzle) in a paper or board machine.
  • the adjustment of the diaphragm which is to ensure a uniform material outlet from the nozzle slot of a headbox in the CD direction, is carried out by means of electric spindle drives.
  • These actuators equipped with stepper motors and a suitable gearbox, are mounted close to each other (approximately every 75 to 150 mm) along the diaphragm and the slot width of the slot nozzle is adjusted by locally (slightly) bending the lower edge of the diaphragm towards the lower edge of the slot nozzle ,
  • the piston rod is connected to a position sensor to obtain an accurate adjustment value for the piston position.
  • LVDT Linear Variable Differential Transformer
  • Other sensor types can be used.
  • a force can also be used as a feedback variable.
  • a simple digital hydraulic controller with two to two valve elements can be provided, which adjusts the pressures in the two pressure chambers, feedback the actual position, so that the orifice adjusts the desired slot width. It is possible to equip each differential cylinder with its own valve elements.
  • Fig. 1 is an arrangement of such
  • Differential cylinder for aperture adjustment shown schematically with only one cylinder.
  • the differential cylinder 1 has two pressure chambers 11 and 12.
  • the piston rod of the cylinder 1 is fixedly coupled to a diaphragm 6 and the cylinder 1 is effective to move the diaphragm 6 in Fig. 1 up and down to adjust.
  • Lines 21 and 22 are connected to the associated pressure chambers 11 and 12 and connected to a pressure regulator 2, which is a digital hydraulic controller, the has been previously described in detail.
  • a control unit 3 receives as information a position signal x, which is output from a position sensor (not shown), and the two pressures in the chambers 11 and 12. Further influencing variables on the desired chamber pressures or the desired position of the piston rod (or the diaphragm) can result from calculations, other specifications or measurands etc. Following these instructions of the control unit 3, the pressure regulator 2 then sets the desired pressures in the chambers 11 and 12.
  • Fig. 1 nor a supply unit 4 with pump and tank for the working fluid and reference numeral 5 shows a pressure accumulator.
  • a pump 10 supplies working fluid to two pressure regulators 2 each connected to a differential cylinder 1 via a flow meter 51 which measures the volume flow of working fluid supplied by the pump 10 to the system.
  • the delivery pressure of the pump 10 and possibly the temperature are detected at the measuring point 14.
  • Flowmeter 52 detect the flow of working fluid into the cylinder-side pressure chamber of the respective cylinder 1.
  • the measuring points 19 provide measurements of the pressures and possibly temperatures in the pressure lines to the cylinders 1.
  • the loss-free operation of the digital hydraulic pressure regulator 2 corresponds to the detected by the flow meters 52 amount of working fluid actually present in the respective cylinder-side pressure chambers, which is a reliable measure of the Piston position is.
  • Moving heavy loads such as Rolling in a paper machine
  • two hydraulic cylinders 1 is always a synchronization problem of the movement of the two piston rods.
  • the result of the flow measurements is a position sensor for the piston position, with the flow meters 52 should measure accurately.
  • gear systems are used that are relatively accurate.
  • the flow measurement with the flow meter 51 in the supply line provides a further measured value, which can be used for the plausibility check of the results of the flow meter 52 for the pressure chambers.
  • the absolute value for the piston position can also be slightly faulty, but it can be the two measured values (each for a cylinder 1), which are detected simultaneously and thereby exposed to the same external influences, hints on how synchronously The two pistons move, or whether the movements deviate from each other in an impermissibly strong manner.

Abstract

The invention relates to a digital hydraulic controller (2) comprising at least two rows of valve elements, one of said rows of valve elements being adapted to connect a supply conduit to a controller outlet and the other row of valve elements being adapted to connect the controller outlet to an outlet conduit. The valve elements of every row of valve elements are connected in parallel in the controller (2) and can be switched simultaneously either individually or in various combinations thereof. Each valve element of a row of valve elements has a different flow cross-section. The valve element which has the smallest flow cross-section is present in the row of valve elements twice. The invention further relates to a system unit comprising a differential cylinder (1) and a digital hydraulic controller (2) which has four rows of valve elements, two of which are connected to one pressure chamber of the differential cylinder with their common controller outlet while the other two rows of valve elements are connected to the other pressure chamber of the differential cylinder (1) with their common controller outlet. Due to the fact that the pressure in the two pressure chambers can be independently set, the differential cylinder can be used as a linear actuator that can be precisely set.

Description

Digitalhydraulischer Regler Beschreibung Digital Hydraulic Controller Description
Die Erfindung betrifft einen Regler, der insbesondere in einem Hydrauliksystem für eine Maschine zur Herstellung einer Faserstoffbahn, z.B. eine Papier- oder Kartonmaschine, verwendbar ist.The invention relates to a controller which is particularly useful in a hydraulic system for a machine for making a fibrous web, e.g. a paper or board machine, is usable.
In Papiermaschinen wird verbreitet Hydraulik als Betätigungs- und Steuerungsmittel eingesetzt; insbesondere werden Stellglieder hydraulisch angetrieben, mit denen große Kräfte mit hoher Genauigkeit eingestellt und ausgeübt werden können.In paper machines, hydraulics is widely used as actuation and control means; In particular, actuators are hydraulically driven, with which large forces can be set and exercised with high accuracy.
In der Regel wird ein Arbeitsfluid, z.B. Hydrauliköl verwendet, das von einer Pumpe unter Druck gesetzt wird. Die Einleitung des unter Druck stehenden Hydrauliköls in ein hydraulisches Stellglied, wie z.B. einen Hydraulikzylinder oder einen Hydraulikmotor wird typischerweise durch ein proportionales Steuerventil oder Proportionalventil gesteuert, das elektrisch, hydraulisch oder pneumatisch angetrieben sein kann.Typically, a working fluid, e.g. Hydraulic oil used, which is pressurized by a pump. The introduction of the pressurized hydraulic oil into a hydraulic actuator, e.g. a hydraulic cylinder or hydraulic motor is typically controlled by a proportional control valve or proportional valve, which may be electrically, hydraulically, or pneumatically driven.
Ein solches Steuerventil hat einen verschieb- oder verlagerbaren Steuerschieber oder Steuerkolben, der in Antwort auf seine Lage in einem zugehörigen Ventilgehäuse einen Solldruck am Ausgang einstellen kann, indem der Druck von der Pumpe gelieferten Hydrauliköls heruntergeregelt wird. Die Beweglichkeit des Steuerkolbens im Ventilgehäuse erfordert zwingend ein gewisses Spiel oder Spaltmaß zwischen Steuerkolben und Ventilgehäuse, so dass eine innere Leckage des Steuerventils unvermeidbar ist. Das Spaltmaß darf nicht zu eng gewählt werden, denn sonst würde das Ventil zu anfällig gegen Verschmutzungen im Hydrauliköl .Such a control valve has a displaceable or shiftable spool or spool which, in response to its location in an associated valve housing, can set a desired pressure at the outlet by adjusting the pressure downshifted by the pump supplied hydraulic oil. The mobility of the control piston in the valve housing necessarily requires a certain clearance or gap between the control piston and valve housing, so that an internal leakage of the control valve is unavoidable. The gap size must not be too narrow, otherwise the valve would be too susceptible to contamination in the hydraulic oil.
In letzter Zeit wurden alternative Druckregler entwickelt, die in dieser Anmeldung durchgängig als digitalhydraulische Druckregler bezeichnet werden sollen. Werden solche digitalhydraulischen Druckregler als Druckminderer eingesetzt, werden diese in der vorliegenden Anmeldung durchgehend als digitalhydraulische Druckminderer bezeichnet .Recently, alternative pressure regulators have been developed, which in this application are to be referred to throughout as digital hydraulic pressure regulators. If such digital hydraulic pressure regulator used as a pressure reducer, they are referred to throughout the present application as a digital hydraulic pressure reducer.
Die Arbeitsweise der digitalhydraulischen Druckregler bzw. Druckminderer ist beispielsweise in der Zeitschrift Fluid Nr. 7-8, 2008 Seiten 12,13 beschrieben. Der verbesserten Lesbarkeit dieser Anmeldung halber wird die Arbeitsweise digitalhydraulischer Druckregler nochmals kurz zusammengefasst dargestellt:The operation of the digital hydraulic pressure regulator or pressure reducer is described for example in the journal fluid no. 7-8, 2008 pages 12,13. The improved readability of this application, the method of operation of digital hydraulic pressure regulator is briefly summarized:
Ein digitalhydraulischer Druckregler besteht im einfachen Fall aus einer Reihe parallel geschalteter Ventile, die lediglich AUF/ZU Funktion besitzen; also einfache EIN/AUS- Schaltventile sind, die einen Durchfluss zulassen oder unterbrechen und in dieser Anmeldung durchgängig als Ventile bezeichnet werden können. Die Ventile sind alle mit einer gemeinsamen Zuführleitung einerseits und mit einer gemeinsamen Ausgangsleitung andererseits verbunden. Die Ventile selbst können herkömmliche Solenoidventile, d.h. Ventile mit elektromagnetischem Antrieb sein. Natürlich können auch andere Antriebsformen gewählt werden. Durch Anschluss oder Einbau von Drosselelementen bzw. durch die Ventile selbst ist dafür gesorgt, dass die Ventile unterschiedliche Durchflüsse haben, wenn sie geöffnet sind. Wenn beispielsweise vier Ventile vorgesehen sind, so können die Durchflussraten Q in den einzelnen, jeweils von dem zugehörigen Ventil wahlweise freigebbaren Durchlässen im Verhältnis von 1:2:4:8 zueinander stehen; bei einer größeren Anzahl von Ventilen wird diese Reihe entsprechend fortgesetzt .In the simple case, a digital hydraulic pressure regulator consists of a series of valves connected in parallel, which have only ON / OFF functions; So simple ON / OFF switching valves are that allow or interrupt a flow and can be consistently referred to in this application as valves. The valves are all connected to a common supply line on the one hand and to a common output line on the other. The valves themselves may be conventional solenoid valves, ie valves with electromagnetic drive. Of course, other forms of drive can be chosen. By connecting or installing throttle elements or by the valves themselves, it is ensured that the valves have different flows when they are open. If, for example, four valves are provided, then the flow rates Q in the individual, in each case by the associated valve selectively releasable passages in the ratio of 1: 2: 4: 8 to each other; for a larger number of valves this series will continue accordingly.
Durch Öffnen und Schließen einzelner Ventile bzw. Ventilkombinationen, die auf der Basis von mathematischen Modellen von einem Rechner bestimmt und ausgewählt werden, kann nun eine sehr rasche und präzise Druckeinstellung in der Ausgangsleitung bzw. in dem daran angeschlossenen Stellglied erreicht werden. Dies wird erreicht, indem die analoge Regelkurve des eingangs geschilderten proportionalen Steuerventils durch eine digital erstellte (angenäherte) Regelkurve ersetzt wird. Diese Kurve kann wegen des Wegfalls von Nichtlinearitäten und/oder Hysterese des analogen Proportionalventils eine stufenförmig angenäherte Gerade sein, die es erlaubt, einen Regelpunkt schnell und (nahezu) überschwingungsfrei anzufahren.By opening and closing individual valves or valve combinations, which are determined and selected on the basis of mathematical models by a computer, a very rapid and precise pressure adjustment in the output line or in the actuator connected thereto can now be achieved. This is achieved by replacing the analogue control curve of the initially described proportional control valve with a digitally generated (approximate) control curve. Due to the omission of non-linearities and / or hysteresis of the analogue proportional valve, this curve can be a step-like approximated straight line which allows a control point to approach a control point quickly and (virtually) free of overshoot.
In den Druckreglern der genannten Art sind mehrere Ventile (nachfolgend als Ventilelemente bezeichnet, die eine Schaltventilfunktion und eine starre Drosselfunktion haben) unabhängig voneinander betätigbar. Die Darstellung der Regelkurve erfolgt durch Schalten geeigneter Kombinationen der Ventilelemente zur gleichen Zeit. Wenn ein einzelnes Ventilelement nicht mehr funktioniert, nimmt die Genauigkeit der Regelung zwar ab, die Regelungsfunktion bleibt aber erhalten. Aufgabe der Erfindung ist es, einen digitalhydraulischen Regler vorzuschlagen der mit einfachen Mittels eine hohe Regelungspräzision auch bei Ausfall eines Ventilelements sicherstellt .In the pressure regulators of the type mentioned several valves (hereinafter referred to as valve elements, which have a switching valve function and a rigid throttle function) independently operable. The representation of the control curve is done by switching suitable combinations of the valve elements at the same time. If a single valve element stops working, the accuracy of the control decreases but the control function remains. The object of the invention is to propose a digital hydraulic controller which ensures a high control precision even with failure of a valve element with simple means.
Diese Aufgabe wird mit einem digitalhydraulischen Regler mit den Merkmalen des Anspruchs 1 gelöst.This object is achieved with a digital hydraulic controller having the features of claim 1.
Es wurde gefunden, dass Ventilelemente mit geringen Durchflüssen, also den kleinen Strömungsquerschnitten, für die Präzision der Regelung von ausschlaggebender Bedeutung sind und dass diese Ventilelemente auch jene Ventilelemente sind, die mit am häufigsten betätigt werden.It has been found that valve elements with low flow rates, ie the small flow cross-sections, are of decisive importance for the precision of the control and that these valve elements are also those valve elements which are most frequently actuated.
Dies wurde als besonderes Beispiel bei der Regelung der Linienlast in einem mit Hydraulikzylindern betätigten Walzenspalt eines Kalanders untersucht und die Aussage, dass die Ventilelemente mit den geringen Durchflüssen, also den kleinen Strömungsquerschnitten, für die Präzision der dieser Regelung von ausschlaggebender Bedeutung sind, wurde bestätigt .This has been studied as a particular example of controlling the line load in a hydraulic cylinder actuated nip of a calender, and the statement that the valve elements with the low flow rates, that is the small flow cross sections, are of crucial importance for the precision of this control has been confirmed.
Erfindungsgemäß hat ein digitalhydraulischer Regler mindestens zwei Ventilelementreihen, von denen die eine Ventilelementreihe eine Versorgungsleitung mit einem Reglerausgang verbinden kann und die andere Ventilelementreihe den Reglerausgang mit einer Auslassleitung verbinden kann. Die Ventilelemente jeder Ventilelementreihe sind parallel angeschlossen und einzeln oder in verschiedenen Kombinationen miteinander gleichzeitig schaltbar. Mindestens einige der Ventilelemente einer Ventilelementreihe haben einen jeweils anderen Strömungsquerschnitt. Erfindungsgemäß ist mindestens das Ventilelement jeder Ventilelementreihe, das den kleinsten Strömungsquerschnitt hat, in der Ventilelementreihe doppelt vorhanden. Auf diese Weise ist sichergestellt, dass im Fall des Versagens des Ventilelements mit dem kleinsten Strömungsquerschnitt durch Redundanz dieser Funktion eine gleichbleibende Regelungsqualität erhalten bleibt.According to the invention, a digital hydraulic controller has at least two valve element rows, of which one valve element row can connect a supply line to a controller output and the other valve element row can connect the controller output to an outlet line. The valve elements of each valve element series are connected in parallel and can be switched individually or in different combinations with each other at the same time. At least some of the valve elements of a valve element row have a different flow cross section. According to the invention, at least the valve element of each valve element row, which has the smallest flow cross-section, is double in the valve element row. In this way, it is ensured that in the case of failure of the valve element with the smallest flow cross section by redundancy of this function, a consistent control quality is maintained.
Die getroffene Anordnung hat zudem den Vorteil, dass erfahrungsgemäß auch nominell baugleiche Ventilelemente tatsächlich geringfügig verschiedene Strömungsquerschnitte haben bzw. verschiedene Durchflüsse durchlassen. Diese Unterschiede können in einem digitalhydraulischen Regler dahingehend genutzt werden, dass bei der Festlegung einer zu schaltenden Kombination von Ventilelementen für einen Reglereingriff, das geeignetere der beiden Ventilelemente kleinsten Durchflusses gewählt wird. Damit lässt sich die Regelung noch weiter verfeinern.The arrangement taken has the additional advantage that, according to experience, even nominally identical valve elements actually have slightly different flow cross-sections or pass through different flows. These differences can be exploited in a digital hydraulic controller to the effect that when selecting a switching combination of valve elements for a controller intervention, the more suitable of the two valve elements smallest flow is selected. This allows the regulation to be further refined.
Vorzugsweise sind die Ventilelemente aus einem elektromagnetischen Schaltventil und einer an dem Ventil vorgesehenen Drossel zusammengesetzt. Die Drosseln können durch einfache Bohrungen hergestellt sein und können dann mit immer gleichen Ventilen kombiniert werden. Auf diese Weise sind die Elemente, die bewegte Teile haben und damit störanfälliger sind, immer gleich. Dies Macht sowohl den Aufbau preiswerter und vereinfacht die Bevorratung von Ersatzteilen .Preferably, the valve elements are composed of an electromagnetic switching valve and a throttle provided on the valve. The throttles can be made by simple bores and can then be combined with always the same valves. In this way, the elements that have moving parts and thus are susceptible to interference, always the same. This makes both the construction cheaper and simplifies the stocking of spare parts.
Vorzugsweise sind innerhalb einer Ventilelementreihe die Ventilelemente mit verschiedenen Strömungsquerschnitte so zusammengestellt, dass sie einen von Ventilelement zu Ventilelement stufenweise zunehmenden Strömungsquerschnitt haben. Vorzugsweise ist der Strömungsquerschnitt von Stufe zu Stufe verdoppelt. In einer vorteilhaften Ausgestaltung bilden die Strömungsquerschnitte eine binäre Reihe, in der kleinste Strömungsquerschnitt 1 beträgt und die anderen Strömungsquerschnitte 2, 4, 8 und 16 usw. betragen.Preferably, the valve elements are combined with different flow cross-sections within a series of valve elements so that they have a step by step from valve element to valve element increasing flow cross-section. Preferably, the flow cross-section is doubled from stage to stage. In an advantageous embodiment, the flow cross sections form a binary row in which the smallest flow cross-section is 1 and the other flow cross-sections 2, 4, 8 and 16 and so on.
Vorzugsweise ist der erfindungsgemäße digitalhydraulische Regler so gestaltet dass Schaltventile und Drosseln zum Einsatz mit Flüssigkeiten, insbesondere für Hydrauliköl, ausgelegt und geeignet sind; alternativ können Schaltventile und Drosseln zum Einsatz mit Gasen, insbesondere für Druckluft, ausgelegt und geeignet sein. Dabei können die Schaltventile elektromagnetisch angetriebene Ventile sein.The digital hydraulic controller according to the invention is preferably designed such that switching valves and throttles are designed and suitable for use with liquids, in particular for hydraulic oil; Alternatively, switching valves and throttles for use with gases, in particular for compressed air, designed and suitable. The switching valves may be electromagnetically driven valves.
In Anwendung der Erfindung kann der Regler mit einem Steuergerät verbunden sein, das die Schaltventile oder die Schaltventilkombinationen zum Öffnen ansteuert, wobei das Steuergerät den Regler als Druckregler oder als Durchflussregler steuern kann.In application of the invention, the controller may be connected to a control unit which controls the switching valves or the switching valve combinations to open, wherein the controller can control the controller as a pressure regulator or as a flow regulator.
Die Erfindung ist auf eine Systemeinheit mit einem Differentialzylinder und einem digitalhydraulischen Regler anwendbar, in der der Regler vier Ventilelementreihen hat, von denen zwei mit ihrem gemeinsamen Reglerausgang mit einer zylinderseitigen Druckkammer desThe invention is applicable to a system unit with a differential cylinder and a digital hydraulic controller, in which the regulator has four rows of valve elements, two of which with their common regulator output with a cylinder-side pressure chamber of the
Differentialzylinders verbunden sind, während die beiden anderen Ventilelementreihen mit ihrem gemeinsamen Reglerausgang mit einer kolbenstangenseitigen Druckkammer des Differentialzylinders verbunden sind. In dieser Systemeinheit kann in einer vom Reglerausgang zur zylinderseitigen Druckkammer führenden Leitung ein Durchflusssensor angeordnet sein. In dieser Ausgestaltung kann der Durchflusssensor als Positionssensor verwendet werden, wie später beschrieben wird. Besondere Vorteile zeigt dann eine Anordnung mit zwei solchen Systemeinheiten, in der jeder Differentialzylinder an einem Lagerpunkt einer an ihren beiden Enden gelagerten Walze angreift, wobei das Steuergerät die Signale der Durchflusssensoren als Positionsinformation des jeweiligen Walzenendes auswertet und die Bewegung der beiden Differentialzylinder auf der Grundlage dieser PositionsInformation synchronisiert .Differential cylinders are connected, while the other two valve element rows are connected with their common regulator output to a piston rod-side pressure chamber of the differential cylinder. In this system unit, a flow sensor can be arranged in a line leading from the controller output to the cylinder-side pressure chamber. In this embodiment, the flow sensor can be used as a position sensor, as will be described later. Special advantages then shows an arrangement with two such system units, in which each differential cylinder acts on a bearing point of a roller mounted at both ends, wherein the control unit evaluates the signals of the flow sensors as position information of the respective roll end and the movement of the two differential cylinders on the basis of this Position information synchronized.
Verschiedene Anwendungen des erfindungsgemäßen Reglers werden nachfolgend erläutert.Various applications of the regulator according to the invention are explained below.
In der Regel wird zur Steuerung der von einem Differentialzylinder, d.h. einem doppeltwirkenden Hydraulikzylinder mit zwei jeweils von einer Kolbenseite begrenzten Kammern, erzeugten Kraft lediglich der Druck in einer Kammer des Zylinders eingestellt, während in der anderen Kammer Umgebungsdruck bzw. der Druck im Vorratstank (Tankdruck) herrscht.Typically, to control the flow from a differential cylinder, i. a double-acting hydraulic cylinder with two each bounded by a piston side chambers, force generated only the pressure in one chamber of the cylinder, while in the other chamber ambient pressure or the pressure in the storage tank (tank pressure) prevails.
Wenn der Zylinder „drücken" soll (z.B. die Kolbenstange ausgefahren werden soll), wird der Druck in der kolbenseitigen Kammer erhöht. Wenn andernfalls der Zylinder „ziehen" soll (z.B. die Kolbenstange eingezogen werden soll), wird der Druck in der stangenseitigen Kammer erhöht.If the cylinder is to "push" (eg to extend the piston rod), the pressure in the piston-side chamber is increased, otherwise, if the cylinder is to "pull" (eg, retract the piston rod), the pressure in the rod-side chamber is increased ,
Im Falle eines Lastwechsels von Drücken zu Ziehen oder umgekehrt, durchläuft die Regelung zwingend einen Zustand (toten Bereich) in dem keine Kraft vom Zylinder ausgeübt wird, wobei in diesem Zustand beide Kammern Tankdruck haben. In diesem Zustand sind beide Kammern mit dem Tank verbunden und der Kolben ist gewissermaßen lose oder frei.In the case of a load change from push to pull or vice versa, the control necessarily passes through a state (dead area) in which no force is exerted by the cylinder, in which state both chambers have tank pressure. In this condition both chambers are connected to the tank and the piston is in a sense loose or free.
Wenn zudem ein großer Bereich von Kräften abzudecken ist, ist es schwierig, entsprechend feinfühlige Regelungen bereitzustellen, die eine genaue Regelung kleiner Kräfte sicherstellen .In addition, when a large range of forces is to be covered, it is difficult, according to sensitive regulations to provide an accurate control of small forces.
Mit der Präzision einer digitalhydraulischen Druckregelung ist es möglich, beide Kammern des Differentialzylinders gleichzeitig mit Druck zu beaufschlagen und den Druck in den Kammern unabhängig voneinander zu regeln. Auf diese Weise ist es möglich, auch sehr kleine Kräfte, die der Hydraulikzylinder ausüben soll, einzustellen, indem beide Druckkammern auf einem hohen Druckniveau entsprechend eingestellte Druckdifferenzen haben, also die Krafteinstellung durch Gegendruck in der gegen die gewünschte Kraft arbeitenden Druckkammer erfolgt bzw. unterstützt wird.With the precision of digital hydraulic pressure control, it is possible to pressurize both chambers of the differential cylinder simultaneously and to control the pressure in the chambers independently. In this way it is possible, even very small forces that should exert the hydraulic cylinder set by both pressure chambers at a high pressure level correspondingly set pressure differences, so the force setting is carried out by counter pressure in the working against the desired force pressure chamber or supported ,
Hinzu kommt noch der Vorteil, dass die Präzision der digitalhydraulischen Regelung besser ist, wenn der Eingangsdruck in den Regler und der Ausgangsdruck aus dem Regler ähnlich groß sind, d.h. wenn das Druckgefälle über den Regler klein ist. Dies bedeutet, dass der Druck in beiden Kammern in der Nähe des Versorgungsdrucks (Eingangsdruck des Reglers) gehalten werden kann, so dass das ein Ventilelement innerhalb von dessen minimaler Öffnungszeit durchströmendes Volumen klein wird, und somit gerade die feinfühlige Regelung im Bereich kleiner Änderungen verbessert ist. Um diesen positiven Effekt zu verstärken, kann das Steuergerät so ausgelegt werden, dass die Drücke so wählt, dass der höhere der beiden Kammerdrücke nur geringfügig unter dem Versorgungsdruck liegt. Dadurch wird unabhängig von den zu erzeugenden Kräfte stets im Bereich bester Regelungspräzision geregelt.In addition, there is the advantage that the precision of the digital hydraulic control is better when the input pressure to the regulator and the output pressure from the regulator are similar, i. when the pressure drop across the regulator is small. This means that the pressure in both chambers can be kept close to the supply pressure (input pressure of the regulator), so that the volume flowing through a valve element within its minimum opening time becomes small, and thus the fine control in the region of small changes is improved , To enhance this positive effect, the controller can be designed so that the pressures select so that the higher of the two chamber pressures is only slightly below the supply pressure. As a result, regardless of the forces to be generated, regulation is always carried out in the area of best control precision.
Durch die gleichzeitige Druckregelung in beiden Druckkammern ist ferner der Wechsel zwischen Drücken und Ziehen im Differentialzylinder erheblich besser steuerbar; es genügt, wenn lediglich durch Änderung des Drucks in einer Druckkammer die Gegenkraft passend erhöht oder vermindert wird, um so die Kraft der anderen Druckkammer zu überschreiten oder zu unterschreiten. Dadurch ergibt sich kein unkontrollierter Zustand mehr in dem beide Druckkammern mit dem Tank verbunden sind.Due to the simultaneous pressure control in both pressure chambers, the change between pressing and pulling in the differential cylinder is also considerably easier to control; it is sufficient if only by changing the pressure in a pressure chamber, the counterforce is increased or decreased appropriately, so as to exceed the force of the other pressure chamber or fall below. As a result, there is no longer an uncontrolled state in which both pressure chambers are connected to the tank.
Eine typische Anwendung der digitalhydraulischen Regelungstechnik ist die Steuerung von Pressdrücken von Walzen und Regelung von Druckverläufen in einem Walzenspalt in Maschinenquerrichtung CD (CD = cross machine direction) .A typical application of digital hydraulic control technology is the control of press pressures of rolls and control of pressure gradients in a nip in the cross machine direction CD (CD = cross machine direction).
Diese digitalhydraulische Technik kann auch verwendet werden um die Blende einer Stoffauflaufdüse (Schlitzdüse) in einer Papier- oder Kartonmaschine einzustellen. Üblicherweis erfolgt die Einstellung der Blende, die in CD- Richtung einen gleichmäßigen Stoffaustritt aus dem Düsenschlitz eines Stoffauflaufs sicherstellen soll, mittels elektrischen Spindelantrieben. Diese mit Schrittmotoren und einem passenden Getriebe ausgerüsteten Stellantriebe sind dicht an dicht (etwa alle 75 bis 150 mm) entlang der Blende angebracht und die Einstellung der Schlitzbreite der Schlitzdüse erfolgt durch lokales (geringfügiges) Verbiegen der Unterkante der Blende in Richtung auf die Unterkante der Schlitzdüse.This digital hydraulic technique can also be used to adjust the aperture of a headbox nozzle (slot nozzle) in a paper or board machine. Usually, the adjustment of the diaphragm, which is to ensure a uniform material outlet from the nozzle slot of a headbox in the CD direction, is carried out by means of electric spindle drives. These actuators, equipped with stepper motors and a suitable gearbox, are mounted close to each other (approximately every 75 to 150 mm) along the diaphragm and the slot width of the slot nozzle is adjusted by locally (slightly) bending the lower edge of the diaphragm towards the lower edge of the slot nozzle ,
Durch die Präzision der Regelung, die mit der digitalhydraulischen Technik der eingangs geschilderten Art erreicht wird und weil diese Hydraulik einen einmal eingestellten Druck in einem Volumen einschließt und ohne weiteren Aufwand dann aufrecht erhält, ist es möglich, die Blendenverstellung mittels Differentialzylindern zu bewerkstelligen anstatt die bisher üblichen Spindelantriebe zu verwenden. Auf diese Weise lässt sich eine in der Konstruktion einfache und wartungsarme Blendenverstellung realisieren .Due to the precision of the control, which is achieved with the digital hydraulic technology of the type described above and because this hydraulics includes a once set pressure in a volume and then maintained without further effort, it is possible to accomplish the diaphragm adjustment by means of differential cylinders instead of the previously to use usual spindle drives. In this way, one can be in the Construction realize simple and low-maintenance aperture adjustment.
In dieser Lösung ist jeweils anstelle eines Spindeltriebs in einem üblichen Stoffauflaufkästen einIn this solution, in each case instead of a spindle drive in a conventional headbox a
Differentialzylinder vorgesehen, dessen Kolbenstange mit einem Weg- bzw. Positionssensor verbunden ist, um einen genauen Einstellwert für die Kolbenstellung zu erhalten. Als Positionssensoren können verschiedene Sensortypen verwendet werden; für die an einem Stoffauflauf herrschenden Umgebungsbedingungen ist ein sogenannter LVDT- Sensor (LVDT=Linear Variabler Differential Transformator) wegen seiner Robustheit besonders geeignet. Andere Sensortypen können verwendet werden. Für eine Regelung kann ferner auch eine Kraft als Rückkopplungsgröße verwendet werden .Differential cylinder provided, the piston rod is connected to a position sensor to obtain an accurate adjustment value for the piston position. As position sensors different sensor types can be used; For the ambient conditions prevailing at a headbox, a so-called LVDT sensor (LVDT = Linear Variable Differential Transformer) is particularly suitable because of its robustness. Other sensor types can be used. For a control, a force can also be used as a feedback variable.
Je nach Anforderungen an die Stellgeschwindigkeit und Stellgenauigkeit kann ein einfacher digitalhydraulischer Regler mit zweimal zwei bis drei Ventilelementen (Schaltventile mit Drossel) vorgesehen werden, der die Drücke in den beiden Druckkammern unter Rückkopplung der tatsächlichen Stellung so einstellt, dass die Blende die gewünschte Schlitzbreite einstellt. Es ist möglich, jeden Differentialzylinder mit seinen eigenen Ventilelementen auszurüsten .Depending on the speed and accuracy requirements, a simple digital hydraulic controller with two to two valve elements (switching valves with throttle) can be provided, which adjusts the pressures in the two pressure chambers, feedback the actual position, so that the orifice adjusts the desired slot width. It is possible to equip each differential cylinder with its own valve elements.
Wenn die geforderten Stellzeiten dies zulassen, können aber auch Lösungen gewählt werden, in denen beispielsweise in einer Art Multiplexverfahren nur ein Regler vorhanden ist, der die Drücke für zwei Druckkammern in zwei zentralen Druckleitungen einstellen kann. Die einzelnen Differentialzylinder werden in diesem Multiplexverfahren nacheinander einzeln mit den zentralen Druckleitungen verbunden und die Solldrücke in den beiden Kammern dieses Differentialzylinders werden dann von dem zentralen Druckregler eingestellt. Dabei kann der individuelle Positionssensor eine Größe für die Einstellung liefern. Dann werden die beiden Kammern verschlossen und damit auch von den zentralen Leitungen getrennt. Auf diese Weise genügen zwei einfache Schaltventile für jeden Differentialzylinder und es kann mit sehr wenigen Leitungen ausgekommen werden.If the required operating times allow this, but solutions can be selected in which, for example, in a kind of multiplex process, only one controller is available, which can set the pressures for two pressure chambers in two central pressure lines. The individual differential cylinders are connected one after the other in this multiplexing process individually with the central pressure lines and the target pressures in the two chambers of this Differential cylinders are then adjusted by the central pressure regulator. The individual position sensor can thereby provide a size for the adjustment. Then the two chambers are closed and thus separated from the central lines. In this way, two simple switching valves for each differential cylinder and it can be done with very few lines.
Es sind auch Mischformen möglich, in denen Gruppen von Differentialzylindern im Multiplexverfahren einzeln oder auch gemeinsam in Überlagerung einer mechanischen (Vor) Einstellung verstellt werden können. Natürlich kann auch jedem Differentialzylinder ein eigener Regler zugeordnet sein.Mixed forms are also possible in which groups of differential cylinders can be adjusted in the multiplex process individually or else together in superposition of a mechanical (pre) setting. Of course, each differential cylinder can be assigned its own controller.
Für die Druckversorgung genügt wegen der geringen Häufigkeit der Einstellung und wegen der kurzen Stellwege eine sehr kleine Pumpe, die zweckmäßigerweise mit einem Druckspeicher gekoppelt ist, so dass ein in etwa konstanter Eingangsdruck an dem Regler oder den Reglern ausreichend ist.For the pressure supply is sufficient because of the low frequency of adjustment and because of the short travel a very small pump, which is suitably coupled to a pressure accumulator, so that an approximately constant input pressure to the controller or regulators is sufficient.
In Fig. 1 ist eine Anordnung eines solchenIn Fig. 1 is an arrangement of such
Differentialzylinders zur Blendenverstellung schematisch mit nur einem Zylinder gezeigt.Differential cylinder for aperture adjustment shown schematically with only one cylinder.
Der Differentialzylinder 1 hat zwei Druckkammern 11 und 12. Die Kolbenstange des Zylinders 1 ist fest mit einer Blende 6 gekoppelt und der Zylinder 1 ist wirksam, um die Blende 6 in Fig. 1 auf- und abwärts zu verstellen.The differential cylinder 1 has two pressure chambers 11 and 12. The piston rod of the cylinder 1 is fixedly coupled to a diaphragm 6 and the cylinder 1 is effective to move the diaphragm 6 in Fig. 1 up and down to adjust.
Leitungen 21 und 22 sind mit den zugehörigen Druckkammern 11 und 12 verbunden und an einen Druckregler 2 angeschlossen, der ein digitalhydraulischer Regler ist, der zuvor ausführlich beschrieben worden ist. Ein Steuergerät 3 empfängt als Informationen ein Positionssignal x, das von einem Positionssensor (nicht dargestellt) abgegeben wird, und die beiden Drücke in den Kammern 11 und 12. Weitere Einflussgrößen auf die gewünschten Kammerdrücke bzw. die Sollposition der Kolbenstange (bzw. der Blende) können sich aus Berechnungen, anderen Vorgaben oder Messgrößen etc. ergeben. Diesen Vorgaben des Steuergeräts 3 folgend stellt der Druckregler 2 dann die gewünschten Drücke in den Kammern 11 und 12 ein.Lines 21 and 22 are connected to the associated pressure chambers 11 and 12 and connected to a pressure regulator 2, which is a digital hydraulic controller, the has been previously described in detail. A control unit 3 receives as information a position signal x, which is output from a position sensor (not shown), and the two pressures in the chambers 11 and 12. Further influencing variables on the desired chamber pressures or the desired position of the piston rod (or the diaphragm) can result from calculations, other specifications or measurands etc. Following these instructions of the control unit 3, the pressure regulator 2 then sets the desired pressures in the chambers 11 and 12.
Ferner sind in Fig. 1 noch eine Versorgungseinheit 4 mit Pumpe und Tank für das Arbeitsfluid vorgesehen und Bezugszeichen 5 zeigt einen Druckspeicher.Furthermore, in Fig. 1 nor a supply unit 4 with pump and tank for the working fluid and reference numeral 5 shows a pressure accumulator.
Als Arbeitsfluid kommt hier neben üblichen Hydraulikflüssigkeiten auch Wasser und/oder wässrige Emulsionen in Betracht, was einfach zu handhabe ist, und kein Umweltrisiko darstellt. Weil nur geringe Bewegungen ausgeführt werden und im Druckregler nur ein/aus- Schaltventile verwendet werden, ist die Schmierfähigkeit von Hydrauliköl nicht unbedingt erforderlich.As a working fluid comes here in addition to conventional hydraulic fluids and water and / or aqueous emulsions into consideration, which is easy to handle, and does not pose an environmental risk. Since only minor movements are carried out and only one on / off switching valves are used in the pressure regulator, the lubricity of hydraulic oil is not absolutely necessary.
Fig. 2 zeigt eine Anordnung zur Erfassung der Kolbenstellung von Differentialzylindern 1 in einem Hydrauliksystem mit digitalen Druckreglern 2.2 shows an arrangement for detecting the piston position of differential cylinders 1 in a hydraulic system with digital pressure regulators 2.
Eine Pumpe 10 liefert über einen Durchflussmesser 51, der den von der Pumpe 10 dem System zugeführten Volumenstrom an Arbeitsfluid misst, Arbeitsfluid zu zwei Druckreglern 2, die jeweils mit einem Differentialzylinder 1 verbunden sind. Der Lieferdruck der Pumpe 10 und ggf. die Temperatur werden an der Messstelle 14 erfasst. Durchflussmesser 52 erfassen den Zustrom an Arbeitsfluid in die zylinderseitige Druckkammer des jeweiligen Zylinders 1. Die Messstellen 19 liefern Messwerte der Drücke und ggf. Temperaturen in den Druckleitungen zu den Zylindern 1. Durch die verlustfreie Arbeitsweise der digitalhydraulischen Druckregler 2 entspricht die von den Durchflussmessern 52 erfasste Menge an Arbeitsfluid den tatsächlich in den jeweiligen zylinderseitigen Druckkammern vorliegenden Füllmenge, die ein verlässliches Maß für die Kolbenstellung ist.A pump 10 supplies working fluid to two pressure regulators 2 each connected to a differential cylinder 1 via a flow meter 51 which measures the volume flow of working fluid supplied by the pump 10 to the system. The delivery pressure of the pump 10 and possibly the temperature are detected at the measuring point 14. Flowmeter 52 detect the flow of working fluid into the cylinder-side pressure chamber of the respective cylinder 1. The measuring points 19 provide measurements of the pressures and possibly temperatures in the pressure lines to the cylinders 1. The loss-free operation of the digital hydraulic pressure regulator 2 corresponds to the detected by the flow meters 52 amount of working fluid actually present in the respective cylinder-side pressure chambers, which is a reliable measure of the Piston position is.
Das Bewegen von schweren Lasten, wie z.B. Walzen in einer Papiermaschine, mit zwei Hydraulikzylindern 1 ist stets auch ein Synchronisationsproblem der Bewegung der beiden Kolbenstangen. Das Ergebnis der Durchflussmessungen ist ein Positionssensor für die Kolbenstellung, wobei die Durchflussmesser 52 genau messen sollten. Vorzugsweise werden dazu Zahnradsysteme verwendet, die relativ genau sind. Zudem liefert die Durchflussmessung mit dem Durchflussmesser 51 in der Versorgungsleitung einen weiteren Messwert, der zur Plausibilitätsprüfung der Ergebnisse der Durchflussmesser 52 für die Druckkammern herangezogen werden kann.Moving heavy loads, such as Rolling in a paper machine, with two hydraulic cylinders 1 is always a synchronization problem of the movement of the two piston rods. The result of the flow measurements is a position sensor for the piston position, with the flow meters 52 should measure accurately. Preferably, gear systems are used that are relatively accurate. In addition, the flow measurement with the flow meter 51 in the supply line provides a further measured value, which can be used for the plausibility check of the results of the flow meter 52 for the pressure chambers.
Durch die indirekte Messung kann der Absolutwert für die Kolbenstellung auch leicht fehlerbehaftet sein, es können aber den beiden Messwerten (jeder für einen Zylinder 1), die gleichzeitig erfasst werden und dabei den gleichen äußeren Einflüssen ausgesetzt sind, Hinweise darauf entnommen werden, wie synchron sich die beiden Kolben bewegen, oder ob die Bewegungen unzulässig stark voneinander abweichen. Diese Erkenntnisse können dazu verwendet werden, die Synchronisation gegebenenfalls mit geeigneten Maßnahmen zu verbessern. Ferner kann aus den Messwerten auch auf Fehlfunktionen im Hydrauliksystem geschlossen werden. Due to the indirect measurement, the absolute value for the piston position can also be slightly faulty, but it can be the two measured values (each for a cylinder 1), which are detected simultaneously and thereby exposed to the same external influences, hints on how synchronously The two pistons move, or whether the movements deviate from each other in an impermissibly strong manner. These findings can be used to improve synchronization, if necessary, with appropriate measures. Furthermore, it can also be concluded from the measured values of malfunctions in the hydraulic system.

Claims

Patentansprüche claims
1. Digitalhydraulischer Regler mit mindestens zwei Ventilelementreihen, von denen die eine Ventilelementreihe eine Versorgungsleitung mit einem Reglerausgang verbinden kann und die andere Ventilelementreihe den Reglerausgang mit einer Auslassleitung verbinden kann, wobei die Ventilelemente jeder Ventilelementreihe parallel angeschlossen und einzeln oder in verschiedenen Kombinationen miteinander gleichzeitig schaltbar sind, und mindestens einige der Ventilelemente einer Ventilelementreihe einen jeweils anderen1. Digital hydraulic controller with at least two rows of valve elements, of which one valve element row can connect a supply line to a controller output and the other valve element series can connect the controller output to an outlet line, wherein the valve elements of each valve element row connected in parallel and individually or in different combinations simultaneously switchable , And at least some of the valve elements of a valve element row one another
Strömungsquerschnitt haben, dadurch gekennzeichnet, dass mindestens das Ventilelement jeder Ventilelementreihe, das den kleinsten Strömungsquerschnitt hat, in der Ventilelementreihe doppelt vorhanden ist.Have flow cross-section, characterized in that at least the valve element of each valve element row, which has the smallest flow cross-section, is double in the valve element row.
2. Digitalhydraulischer Regler nach Anspruch 1, wobei die Ventilelemente aus einem elektromagnetischen Schaltventil und einer an dem Ventil vorgesehenen Drossel zusammengesetzt sind.2. Digital hydraulic controller according to claim 1, wherein the valve elements are composed of an electromagnetic switching valve and a valve provided on the throttle.
3. Digitalhydraulischer Regler nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass innerhalb einer Ventilelementreihe die einigen Ventilelemente einen von Ventilelement zu Ventilelement stufenweise zunehmenden Strömungsquerschnitt haben.3. Digital hydraulic controller according to claim 1 or 2, characterized in that within a Valve element series which some valve elements have a gradually increasing from valve element to valve element flow cross-section.
4. Digitalhydraulischer Regler nach Anspruch 3, dadurch gekennzeichnet, dass der Strömungsquerschnitt von Stufe zu Stufe verdoppelt ist.4. Digital hydraulic controller according to claim 3, characterized in that the flow cross section is doubled from stage to stage.
5. Digitalhydraulischer Regler nach Anspruch 1 bis 4, dadurch gekennzeichnet, dass der kleinste Strömungsquerschnitt 1 beträgt und die anderen Strömungsquerschnitte 2, 4, 8 und 16 betragen.5. Digital hydraulic controller according to claim 1 to 4, characterized in that the smallest flow cross section is 1 and the other flow cross sections 2, 4, 8 and 16 amount.
6. Digitalhydraulischer Regler nach einem oder mehreren der Ansprüche 2 bis 5, wobei Schaltventile und Drosseln zum Einsatz mit Flüssigkeiten, insbesondere für Hydrauliköl, ausgelegt und geeignet sind.6. Digital hydraulic controller according to one or more of claims 2 to 5, wherein switching valves and throttles for use with liquids, in particular for hydraulic oil, are designed and suitable.
7. Digitalhydraulischer Regler nach einem oder mehreren der Ansprüche 2 bis 5, wobei Schaltventile und Drosseln zum Einsatz mit Gasen, insbesondere für Druckluft, ausgelegt und geeignet sind.7. Digital hydraulic controller according to one or more of claims 2 to 5, wherein switching valves and throttles for use with gases, in particular for compressed air, are designed and suitable.
8. Digitalhydraulischer Regler nach Anspruch 6 oder 7, dadurch gekennzeichnet, dass die Schaltventile elektromagnetisch angetriebene Ventile sind.8. Digital hydraulic controller according to claim 6 or 7, characterized in that the switching valves are electromagnetically driven valves.
9. Digitalhydraulischer Regler nach einem oder mehreren der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Regler mit einem Steuergerät verbunden ist, das die Schaltventile oder die Schaltventilkombinationen zum Öffnen ansteuert . 9. Digital hydraulic controller according to one or more of the preceding claims, characterized in that the controller is connected to a control unit which controls the switching valves or the switching valve combinations to open.
10. Digitalhydraulischer Regler nach Anspruch 9, dadurch gekennzeichnet, dass das Steuergerät den Regler als Druckregler steuert.10. Digital hydraulic controller according to claim 9, characterized in that the controller controls the controller as a pressure regulator.
11. Digitalhydraulischer Regler nach Anspruch 9, dadurch gekennzeichnet, dass das Steuergerät den Regler als Durchflussregler steuert.11. Digital hydraulic controller according to claim 9, characterized in that the controller controls the controller as a flow controller.
12. Systemeinheit mit einem Differentialzylinder und einem digitalhydraulischen Regler nach einem der vorhergehenden Ansprüche 1 bis 11, wobei der Regler vier Ventilelementreihen hat, von denen zwei mit ihrem gemeinsamen Reglerausgang mit einer zylinderseitigen Druckkammer des Differentialzylinders verbunden sind, während die beiden anderen Ventilelementreihen mit ihrem gemeinsamen Reglerausgang mit einer kolbenstangenseitigen Druckkammer des Differentialzylinders verbunden sind.12. System unit comprising a differential cylinder and a digital hydraulic controller according to one of the preceding claims 1 to 11, wherein the regulator has four rows of valve elements, two of which are connected with their common regulator output to a cylinder-side pressure chamber of the differential cylinder, while the other two valve element rows with their common Regulator output are connected to a piston rod-side pressure chamber of the differential cylinder.
13. Systemeinheit nach Anspruch 12, dadurch gekennzeichnet, dass mindestens in einer vom Reglerausgang zur zylinderseitigen Druckkammer führenden Leitung ein Durchflusssensor angeordnet ist.13. System unit according to claim 12, characterized in that a flow sensor is arranged at least in a line leading from the controller output to the cylinder-side pressure chamber.
14. Anordnung mit zwei Systemeinheiten nach Anspruch 13, dadurch gekennzeichnet, dass jeder Differentialzylinder an einem Lagerpunkt einer an ihren beiden Enden gelagerten Walze angreift, wobei das Steuergerät die Signale der Durchflusssensoren als Positionsinformation des jeweiligen Walzenendes auswertet und die Bewegung der beiden14. Arrangement with two system units according to claim 13, characterized in that each differential cylinder acts on a bearing point of a roller mounted at both ends, wherein the control unit evaluates the signals of the flow sensors as position information of the respective roller end and the movement of the two
Differentialzylinder auf der Grundlage dieser PositionsInformation synchronisiert . Differential cylinder synchronized based on this position information.
EP10713639.2A 2009-05-29 2010-04-13 Digital hydraulic controller Not-in-force EP2435715B1 (en)

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DE200910026606 DE102009026606A1 (en) 2009-05-29 2009-05-29 Digital hydraulic controller
PCT/EP2010/054795 WO2010136255A1 (en) 2009-05-29 2010-04-13 Digital hydraulic controller

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EP (1) EP2435715B1 (en)
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JP5284539B2 (en) 2013-09-11
CN102449317A (en) 2012-05-09
JP2012528279A (en) 2012-11-12
WO2010136255A1 (en) 2010-12-02
DE102009026606A1 (en) 2010-12-02
CN102449317B (en) 2015-01-21
US20120073431A1 (en) 2012-03-29

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