EP2435715B1 - Digitalhydraulischer regler - Google Patents

Digitalhydraulischer regler Download PDF

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Publication number
EP2435715B1
EP2435715B1 EP10713639.2A EP10713639A EP2435715B1 EP 2435715 B1 EP2435715 B1 EP 2435715B1 EP 10713639 A EP10713639 A EP 10713639A EP 2435715 B1 EP2435715 B1 EP 2435715B1
Authority
EP
European Patent Office
Prior art keywords
valve
valve elements
digital hydraulic
controller
hydraulic controller
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.)
Not-in-force
Application number
EP10713639.2A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2435715A1 (de
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
Valmet Technologies 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 Valmet Technologies Oy filed Critical Valmet Technologies Oy
Publication of EP2435715A1 publication Critical patent/EP2435715A1/de
Application granted granted Critical
Publication of EP2435715B1 publication Critical patent/EP2435715B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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.
  • valves 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.
  • the US 2009/114284 A1 shows a digital hydraulic controller in which the valves of each valve element series have binary graduated opening cross sections. When one valve fails, the other valves are controlled in a special way to achieve an approximately normal control quality.
  • valve cross-sections whose size follows a binary series, with alternative combinations of valves to be switched are selected according to various criteria.
  • 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 one
  • Valve element stops working, the accuracy of the control decreases, but the control function is retained.
  • 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. This object is achieved with a digital hydraulic controller having the features of claim 1.
  • 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. 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.
  • 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 valve element rows, 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 with a piston rod side pressure chamber of the differential cylinder are connected.
  • 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
  • the pressure in the piston-side chamber is increased. Otherwise, if the cylinder is to "pull” (e.g., 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 aperture which is to ensure a uniform material outlet from the nozzle slot of a headbox in CD direction, 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 ,
  • a differential cylinder is provided in each case instead of a spindle drive in a conventional headbox, the piston rod is connected to a position sensor to obtain an accurate setting 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.
  • 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.
  • Fig. 1 an arrangement of such a differential cylinder for diaphragm adjustment is 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 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 emitted by 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 provided with pump and tank for the working fluid and reference numeral 5 shows a pressure accumulator.
  • Fig. 2 shows an arrangement for detecting the piston position of differential cylinders 1 in a hydraulic system with digital pressure regulators.
  • 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. Due to the lossless operation of the digital hydraulic pressure regulator 2, the amount of working fluid detected by the flow meters 52 corresponds to the actual amount 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.

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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)
  • Servomotors (AREA)
  • Paper (AREA)
EP10713639.2A 2009-05-29 2010-04-13 Digitalhydraulischer regler Not-in-force EP2435715B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200910026606 DE102009026606A1 (de) 2009-05-29 2009-05-29 Digitalyhydraulischer Regler
PCT/EP2010/054795 WO2010136255A1 (de) 2009-05-29 2010-04-13 Digitalhydraulischer regler

Publications (2)

Publication Number Publication Date
EP2435715A1 EP2435715A1 (de) 2012-04-04
EP2435715B1 true EP2435715B1 (de) 2016-04-06

Family

ID=42272258

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10713639.2A Not-in-force EP2435715B1 (de) 2009-05-29 2010-04-13 Digitalhydraulischer regler

Country Status (6)

Country Link
US (1) US20120073431A1 (zh)
EP (1) EP2435715B1 (zh)
JP (1) JP5284539B2 (zh)
CN (1) CN102449317B (zh)
DE (1) DE102009026606A1 (zh)
WO (1) WO2010136255A1 (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105377278A (zh) * 2013-05-10 2016-03-02 威尔普罗实验室公司 用于停止进食的感觉刺激
DE102016214512A1 (de) * 2016-08-05 2018-02-08 Voith Patent Gmbh Sensorüberwachung
WO2018152069A1 (en) * 2017-02-15 2018-08-23 Nikon Corporation Dual valve fluid actuator assembly
CN110792655A (zh) * 2019-11-27 2020-02-14 国网江苏省电力有限公司南通供电分公司 一种用于液压的定位装置及其控制方法
CN113983015B (zh) * 2021-10-12 2024-04-12 中国煤炭科工集团太原研究院有限公司 一种掘进机双截割臂液压控制系统及方法

Family Cites Families (19)

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JPS53122085A (en) * 1977-03-31 1978-10-25 Sumitomo Metal Ind Ltd Controlling method of oil hydraulic cylinder in iron-manufacturing machineries
JPS5829643A (ja) * 1981-08-17 1983-02-21 Japan Steel Works Ltd:The 射出成形機の油量切換装置
JPS5899503A (ja) * 1981-12-03 1983-06-13 Kubota Ltd 流体圧アクチユエ−タの流量制御装置
AU1053383A (en) * 1982-04-08 1983-10-13 Jlg Industries, Inc. Electro-hydraulic control system
JPS60132102A (ja) * 1983-12-20 1985-07-15 Mitsubishi Heavy Ind Ltd 油圧式ケ−ブルエンジン
JPH02130472U (zh) * 1989-04-04 1990-10-26
JP2506121Y2 (ja) * 1989-05-19 1996-08-07 株式会社 電業社機械製作所 ディジタルバルブ
JPH02309070A (ja) * 1989-05-22 1990-12-25 Hitachi Metals Ltd デジタルバルブ
JPH04145201A (ja) * 1990-10-03 1992-05-19 Matsushita Electric Ind Co Ltd 空気圧駆動装置
JPH05106608A (ja) * 1991-10-11 1993-04-27 Kayaba Ind Co Ltd 建設車両の制御回路
DE10006299B4 (de) * 2000-02-12 2005-10-27 Voith Paper Patent Gmbh Verfahren zum Betreiben einer Kalanderwalze und Kalanderwalze
FI118608B (fi) * 2001-04-23 2008-01-15 Matti Linjama Ohjausjärjestelmä ja menetelmä toimilaitteen ohjaamiseksi ja ohjauksen optimoimiseksi rinnankytkettyjen venttiilisarjojen avulla
FI113794B (fi) * 2002-11-14 2004-06-15 Metso Paper Inc Menetelmä ja järjestely pitkänomaisen telavälineen paikan ja/tai voiman säätämiseksi
DE10340506B4 (de) * 2003-09-03 2006-05-04 Sauer-Danfoss Aps Ventilanordnung zur Steuerung eines Hydraulikantriebes
FI123590B (fi) * 2005-09-06 2013-07-31 Bosch Gmbh Robert Venttiilijärjestelmän vikojen havaitseminen ja vikasietoinen ohjaus
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JP5541540B2 (ja) * 2008-04-11 2014-07-09 イートン コーポレーション 複数の可変負荷を駆動するための、定容量ポンプを含む油圧システム及びその動作方法
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Also Published As

Publication number Publication date
DE102009026606A1 (de) 2010-12-02
WO2010136255A1 (de) 2010-12-02
JP2012528279A (ja) 2012-11-12
CN102449317B (zh) 2015-01-21
US20120073431A1 (en) 2012-03-29
JP5284539B2 (ja) 2013-09-11
EP2435715A1 (de) 2012-04-04
CN102449317A (zh) 2012-05-09

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