EP2933502A1 - Digital hydraulic drive system - Google Patents
Digital hydraulic drive system Download PDFInfo
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- EP2933502A1 EP2933502A1 EP15000306.9A EP15000306A EP2933502A1 EP 2933502 A1 EP2933502 A1 EP 2933502A1 EP 15000306 A EP15000306 A EP 15000306A EP 2933502 A1 EP2933502 A1 EP 2933502A1
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Classifications
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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
- 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"
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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
- 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
- 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
- F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
- F15B2211/30575—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve in a Wheatstone Bridge arrangement (also half bridges)
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/327—Directional 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
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
- F15B2211/351—Flow control by regulating means in 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
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
- F15B2211/353—Flow control by regulating means in return line, i.e. meter-out 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
- F15B2211/405—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
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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
- 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
Definitions
- Valve control takes place by means of PWM signals, a characteristic feature for a subgroup of digital hydraulic systems ( Linjama, M. Digital fluid power - state of the art. In: Proc. 12th Scandinavian Int. Conf. Fluid Power (SICFP'11), pp. 331-353. May 2011 ).
- Linjama et al. used an optimal control approach for a system of digital flow control units (DFCU) in Linjama, M., Huova, M., Boström, P., Laamanen, A., Siivonen, L., Morel, L., Waldén, M., and Vilenius, M. Design and implementation of energy saving digital hydraulic control system In: Vilenius, J., Koskimies, KT, and Uusi-Heikkilä, J. (eds.), Proc. 10th Scandinavian Int. Conf. Fluid Power (SICFP'07), vol. 2, pp. 341-359.
- DFCU digital flow control units
- a DFCU is a group of switching valves in parallel, which allows a quantized adjustment of the volumetric flow by selectively switching the individual valves.
- An in-depth look at this technology will be made in Linjama, M., Laamanen, A., and Vilenius, M. Is it time for digital hydraulics? In: Proc. 8th Scandinavian Int. Conf. Fluid Power (SICFP'03), pp. 347-366. Tampere University of Technology, 2003 , The aforementioned optimal control approach was used for a differential cylinder which is driven by DFCUs based on the principle of the resolved control edge.
- dissolved control edges is a concept in which the volume flows at the connections of a hydraulic actuator (such as a cylinder or motor) can be adjusted independently of each other. Compared with conventional servo-hydraulic systems, they offer potential for saving energy by reducing the backpressure. An overview of this principle will be found in Eriksson, B. and Palmberg, J.-O. Individual metering fluid power systems: challenges and opportunities. In: Proc. IME J. Syst. Contr. Eng., Vol. 225, no. 2, pp. 196-211, 2011 given.
- the present invention seeks to provide the known solutions while maintaining their advantages a functionally reliable control for a digital hydraulic drive system, to further improve to the effect that a high control quality is achieved with low computational complexity, so that extent the costs of the desired scheme are reduced.
- a flatness-based sequence control is used, which uses the volume flows as a manipulated variable, and a subordinate control is used, which depends on the configuration of the valve device, a control method is provided which is particularly for use under use of quick-change valves (pulse width modulation) and / or parallel valves (digital flow control unit).
- the considered digital hydraulic drive system consists of a hydrostatic constant motor 10 with hydropneumatic damping accumulators 12 at both terminals 14, 16.
- the control is effected by separate valve units or valve groups 18 of a valve device 20 at the inlet and outlet ports 14, 16 of the engine 10.
- Die Fig. 1a, 1b show two possible embodiments of such a drive solution with dissolved control edge.
- the term "resolved control edges" is understood in technical terms to mean that each control edge of a conventional proportional directional control valve is dissolved via at least one valve with at least one basic and / or one switching position. A valve with, for example, five control edges is thus replaceable over at least five switching valves.
- very small, temporally very fast-switching switching valves are used in the manner of 2/2-way switching valves (see. Fig. 1c ).
- the motor 10 is connected to a pressure supply source with the supply pressure p s and to a tank or return to the tank pressure p T.
- a full bridge is shown, which allows a four-quadrant operation.
- the system off Fig. 1b can only be operated in two quadrants, since the volume flow at both ports 14, 16 can only flow in one direction. Nevertheless, both circuits are suitable for control with resolved control edge, since in both cases, the volume flows at the terminals 14, 16 can be specified independently.
- the focus of the present invention is on the full bridge circuit Fig. 1a and the Fig. 2 ,
- the presented design method is divided into two parts: a flatness-based follow-up control, which uses the volume flows as control variables and a lower-level control of the volume flow, which depends on the valve configuration. According to this division, the mathematical models for the drive 10 and the valve units 18, 20 are given below in detail.
- J is the rotor inertia
- d is the coefficient of viscous friction
- ⁇ is the load torque
- p 1 and p 2 are the pressures at the engine ports 14, 16
- V M is the displacement of the engine.
- the load torque ⁇ is not understood as a system variable, but as a time-variant parameter, ie it is assumed that the controller design is known. In the absence of knowledge of the load torque, a load observer may be employed in the controller implementation.
- the volume flows entering the attenuation memories 12 are denoted by q A, 1 and q A, 2 , the leakage coefficient of the motor 10 by G.
- V i is the gas volumes of the memories 12
- p 0, i the bias pressures
- V 0, i the total volumes and n the polytropic exponent.
- valve units 18 of the valve device 20 are described below from a control point of view closer. Since, as already mentioned at the beginning, the proposed approach to the design of a sequence control for different valve configurations is valid, two types of digital hydraulic full bridge circuit ( Fig. 1c, 2nd ) discussed by way of example. In both cases, the dynamics of valves 18 and valve solenoids are neglected.
- the supply pressure and the tank pressure are respectively denoted by p s and p t .
- the pressure-volume flow characteristics of the DFCUs are represented by the coefficient K DFCU .
- the switching indices ⁇ i, s , ⁇ i, t ⁇ ⁇ 0,1,2 ..., 2 m -1 ⁇ determine the switching state of the m-bit DFCUs.
- ⁇ i, s and ⁇ i, t designate the duty cycle of the respective valves 18 connected to the pressure or fluid supply and tank.
- the coefficient K PWM determines a linear approximation of the relationship between volume flow and duty cycle.
- the drive model presented above is a non-linear multi-variable system.
- the control of such systems often exceeds the capabilities of simple PID controllers. This applies in particular to the follow-up regulation.
- the so-called differential flatness is a system feature that facilitates not only the design of the controller but also the analysis and sizing of a system as well as the planning of suitable reference trajectories.
- differential flatness implies the existence of a so-called flat output.
- This (virtual) output is generally a function of system sizes and their time derivatives.
- a central feature of the flatness is that the trajectories of all system quantities, including the manipulated variables, are uniquely determined by the trajectories of the flat output, while these can in turn be freely specified. This implies that the desired system behavior can be given in the form of trajectories for the components of a flat output.
- the resulting control task is then limited to ensuring the trajectory sequence of the flat output, which in turn is facilitated by the fact that the manipulated variables can be calculated directly from the components of the flat output.
- the flatness property is also retained when the valve models according to the formulas (7) and (8) are taken into account, since the manipulated variables ⁇ i, s / t and ⁇ i, s / t directly from the volume flows q i and the pressures p i are calculated, which in turn can be calculated from the flat output y by means of formula (11).
- the flatness property is not limited exclusively to digital hydraulic drives, but can be transferred to all systems having the structure (6). This also applies to hydraulic linear drives such as differential cylinders, provided that the first component of the flat output y is replaced by the cylinder position.
- valve control is explained in more detail.
- the design of the flatness-based sequence control is based on three steps. First, suitable reference trajectories must be set for the flat output y. Subsequently, the control laws for the follow-up control are determined. Finally, the setpoint flows calculated by the slave controller are used as input for valve control.
- the pertinent valve control is as a functional block in the Fig. 3 represented there and (9), (10), since this function block is associated with the formulas (9) and (10) described above.
- the use of the reference trajectories will be described in more detail below.
- the first step in the design of a sequence control is the specification of the desired system behavior in the form of reference trajectories for the flat output y.
- these trajectories can be specified freely and by definition independently. As demonstrated by the present example, it may nevertheless be advantageous to introduce an artificial dependence of these trajectories.
- the trajectory for the first component of the flat output y, in the form of the angular velocity ⁇ results directly from the control task.
- An operating point change from ⁇ 0 to ⁇ f in the transition time t f could be, for example, a polynomial reference trajectory of the form t ⁇ y 1 .
- r t ⁇ 0 + ⁇ f - ⁇ 0 ⁇ t 3 t f 3 ⁇ 10 - 15 ⁇ t t f + 6 ⁇ t 2 t f 2 realize.
- r t 2 ⁇ p min + J ⁇ y ⁇ 1 .
- the barrier p min can be used for the pressure, cavitation (especially in case of load changes) or also the drop of the accumulator pressure under the prestressing pressure p 0 to prevent.
- the reference of the lower of the two pressures p 1 (t) and p 2 (t) at any time p min Consequently, by a suitable compromise between pressure drop and bias pressure, the throttle losses can be reduced.
- the first function block 30 relates to the generation of trajectories.
- the second function block 32 symbolizes the controller or controller.
- the third functional block 34 refers to the linearizing feedback and the function block 36 is intended to be the estimator affect. Otherwise, the previously introduced reference quantities and reference numerals for the Fig. 3 used.
- an observer 36 can be used, which will be explained in more detail below.
- the controller design from the previous section is based on the knowledge of the load torque ⁇ . Such knowledge can be based either on a measurement or a very accurate knowledge of the underlying process. However, if these conditions are not met, an observer-based load estimate can be used.
- a full bridge with 6-bit DFCUs ( Fig. 7 ) used as bridge resistors for driving.
- the DFCUs consisting of modified HYDAC WS08W valves with switching times of 5 ms and downstream apertures with the diameters 0.45 mm, 0.62 mm, 0.9 mm, 1.28 mm, 1, 83 mm and 3 mm.
- the simulation models of the valves 18 form the mechanical valve piston dynamics, a simple magnetic model of the first order with saturation and a subordinate current control.
- the bridge resistors consist of valve groups 18 of the same type, driven by a 50 Hz PWM signal.
- the Redlich-Kwong-Soave gas model provided by AMESim ( Soave, G. Equilibrium constants from a modified Redlich-Kwong equation of state. In: Chem. Eng. Sci., Vol. 27, no. 6, pp. 1197-1203, 1972 ) was used to simulate the damping memory 12.
- the applied motor model 10 again corresponds to equation (1).
- the reference trajectory of the angular velocity w comprises three operating point changes.
- the engine 10 is accelerated from standstill to 900 min -1 , then braked to 100 min -1 and finally reversed to -600 min -1 .
- the results of the simulation of the DFCU bridge are in the Fig. 4a, 4b, 4c represented, wherein in the x-direction, the time is plotted in seconds and in the Fig. 4a in y-direction, the angular velocity w with the unit 1 / min.
- the pressure in the unit bar is indicated in the y-direction.
- the curves are smoothed and, in particular, the jagged courses in the Figures 4b and 4c are then smoothed out accordingly.
- Fig. 5a, 5b, 5c show the simulation results for the PWM controlled system. While significantly larger oscillations can be seen on the pressure signals, the follow-up behavior of the angular velocity w is similar to that of the DFCU system. As far as the designation of the x- and y-coordinates is concerned, as well as the further statements correspond to the Fig. 5a of the Fig. 4a and the FIGS. 5b and 5c the FIGS. 4b or 4c.
- Fig. 6 The influence of the load estimator is through Fig. 6 clarified.
- the deviations of the angular velocity from its reference trajectory from 18% to 2% can be significantly reduced by using the load observer.
- the reference trajectory for the total pressure can not be calculated correctly without the load estimate (see equation (13)).
- the observer-based system avoids such violations of limitation other than spikes due to the dynamic limitations of the system.
- the strongly fluctuating graphs refer to simulation values without load observers.
- the present invention relates to a flatness-based follow-up control for a digital hydraulic drive, based on the principle of the resolved control edge.
- the presented control strategies avoid the distinction of operating modes and the resulting switching between such modes.
- the additional degree of freedom associated with the second manipulated variable is used to set the minimum pressure at the motor terminals 14, 16. In this way, the emptying of the damping memory 12 and cavitation can be prevented. In addition, the pressure losses can be limited to the necessary minimum when using a variable supply.
- a load estimator is used as shown to determine the load torque ⁇ on the motor shaft of the constant velocity motor 10.
Abstract
1. Digitalhydraulisches Antriebssystem. 2. Die Erfindung betrifft ein digitalhydraulisches Antriebssystem, bestehend aus - einem Aktuator, wie einem hydrostatischen Konstantmotor (10) oder einem Arbeitszylinder mit vorzugsweise angeschlossenen hydropneumatischen Dämpfungsspeichern (12) an beiden zuordenbaren Aktuatoranschlüssen (14, 16) sowie - mindestens einer unabhängig betätigbaren Ventileinrichtung (20) für die Ansteuerung der Volumenströme in den Zu- und/oder Abströmanschlüssen (14, 16) des Aktuators, das dadurch gekennzeichnet ist, dass eine flachheitsbasierte Folgeregelung eingesetzt ist, die die Volumenströme als Stellgröße verwendet, und eine unterlagerte Steuerung zum Einsatz kommt, die von der Konfiguration der Ventileinrichtung (20) abhängt. 1. Digital hydraulic drive system. 2. The invention relates to a digital hydraulic drive system consisting of - An actuator, such as a hydrostatic constant-motor (10) or a working cylinder with preferably connected hydropneumatic damping accumulators (12) on both assignable actuator terminals (14, 16) and - At least one independently operable valve means (20) for controlling the flow rates in the inlet and / or Abströmanschlüssen (14, 16) of the actuator, which is characterized in that a flatness-based follow-up control is used, which uses the volume flows as a control variable, and a subordinate control is used, which depends on the configuration of the valve device (20).
Description
Die Erfindung betrifft ein digitalhydraulisches Antriebssystem, bestehend aus
- einem Aktuator, wie einem hydrostatischen Konstantmotor oder einem Arbeitszylinder mit vorzugsweise angeschlossenen hydropneumatischen Dämpfungsspeichern an beiden zuordenbaren Aktuatoranschlüssen sowie
- mindestens einer unabhängig betätigbaren Ventileinrichtung für die Ansteuerung der Volumenströme in den Zu- und/oder Abströmanschlüssen des Aktuators
- an actuator, such as a hydrostatic constant-motor or a working cylinder with preferably connected hydropneumatic damping accumulators on both assignable actuator connections and
- at least one independently operable valve device for controlling the volume flows in the inlet and / or Abströmanschlüssen the actuator
Obwohl der breite Einsatz von digitalhydraulischen Systemen in der industriellen Anwendung nach wie vor Gegenstand kontroverser Diskussionen (
Fortgeschrittene Regelungsmethoden finden auch in einer weiteren wichtigen Untergruppe der digitalhydraulischen Systeme Anwendung. Linjama et al. verwendeten einen Optimalregelungsansatz für ein System von digital flow control units (DFCU) in
Das Prinzip der "Aufgelösten Steuerkanten" ist ein Konzept, bei dem die Volumenströme an den Anschlüssen eines hydraulischen Aktuators (wie z.B. ein Zylinder oder Motor) unabhängig voneinander eingestellt werden können. Im Vergleich mit konventionellen servohydraulischen Systemen eröffnen sie ein Potential zur Energieeinsparung durch die Reduktion des Gegendrucks. Ein Überblick über dieses Prinzip wird in
Was die Qualität der jeweils eingesetzten Regelung anbelangt, lassen die bekannten Lösungen jedoch noch Wünsche offen und häufig ist für eine zeitnahe Regelung von Aktuatorsystemen der rechentechnisch benötigte Aufwand zu hoch.As far as the quality of the respectively used control is concerned, however, the known solutions still leave something to be desired, and frequently the expenditure required for computation is too high for a timely control of actuator systems.
Ausgehend von diesem Stand der Technik liegt der Erfindung die Aufgabe zugrunde, die bekannten Lösungen unter Beibehalten ihrer Vorteile eine funktionssichere Regelung für ein digitalhydraulisches Antriebssystem zu schaffen, dahingehend weiter zu verbessern, dass eine hohe Regelungsqualität erreicht ist bei geringem rechentechnischen Aufwand, so dass auch insoweit die Kosten der angestrebten Regelung reduziert sind.Based on this prior art, the present invention seeks to provide the known solutions while maintaining their advantages a functionally reliable control for a digital hydraulic drive system, to further improve to the effect that a high control quality is achieved with low computational complexity, so that extent the costs of the desired scheme are reduced.
Eine dahingehende Aufgabe löst ein digitalhydraulisches Antriebssystem gemäß der Merkmalsausgestaltung des Patentanspruches 1 in seiner Gesamtheit.This object is achieved by a digital hydraulic drive system according to the feature configuration of
Dadurch dass gemäß dem kennzeichnenden Teil des Patentanspruches 1 eine flachheitsbasierte Folgeregelung eingesetzt ist, die die Volumenströme als Stellgröße verwendet, und eine unterlagerte Steuerung zum Einsatz kommt, die von der Konfiguration der Ventileinrichtung abhängt, ist ein Regelungsverfahren geschaffen, das sich insbesondere zur Verwendung unter Einsatz von Schnellschaltventilen (Pulsweitenmodulation) und/oder Parallelventilen (digital flow control unit) eignet.Characterized in that according to the characterizing part of
Gemäß der vorliegenden erfindungsgemäßen Lösung wird der dem Prinzip der aufgelösten Steuerkante inhärente zusätzliche Freiheitsgrad dazu verwendet, den Druckabfall am jeweiligen Ventil oder einer Ventilgruppe im Rückstrom zu steuern und damit Kavitation sowie ein Entleeren der Speicher zu verhindern. Weitere Kriterien für die Verwendung dieses zusätzlichen Freiheitsgrads sind bei Bindel et al. (
Weitere vorteilhafte Ausführungsbeispiele des digitalhydraulischen Antriebssystems sind Gegenstand der Unteransprüche. Bei einer besonders bevorzugten Ausführungsform der erfindungsgemäßen Lösung wird innerhalb des Reglerentwurfs eine beobachtergestützte Lastabschätzung für den jeweils eingesetzten Aktuator durchgeführt.Further advantageous embodiments of the digital hydraulic drive system are the subject of the dependent claims. In a particularly preferred embodiment of the solution according to the invention, an observer-based load estimation for the respective actuator used is carried out within the controller design.
Im Folgenden wird die erfindungsgemäße Lösung anhand der Zeichnung näher erläutert. Dabei zeigen in prinzipieller und nicht maßstäblicher Darstellung die
- Fig. 1a, 1b, 1c
- mit üblichen hydraulischen Schaltsymbolen versehen verschiedene Antriebssystemkonzepte, einmal in der Art einer Vollbrücke (
Fig. 1a ) und einmal eine Ansteuerung im Zweiquadrantenbetrieb über den Zu- und Ablauf des Aktuators (Fig. 1b ) sowie gemäß der Darstellung nach derFig. 1c verschiedene digital ansteuerbare hydraulische Schalt- und Steuerventile, die an die Stelle der einstellbaren Drosseln in denFig. 1a, 1b treten; - Fig. 2
- vergleichbar den Darstellungen nach den
Figuren 1a und 1b die wesentlichen Komponenten eines digitalhydraulischen Antriebssystems mit vorgeschalteter Ventileinrichtung; - Fig. 3
- den grundsätzlichen Aufbau einer Regelungsstruktur zum Regeln des digitalhydraulischen Antriebssystems;
- Fig. 4a, 4b, 4c
- in der Art von Graphen Angaben über das Regelungsverhalten unter Einsatz von DFCU-Ventilen;
- Fig. 5a, 5b, 5c
- in der Art von Graphen Angaben über das Regelungsverhalten unter Einsatz von PWM-Ventilen;
- Fig. 6a, 6b, 6c, 6d
- Auswertegraphen betreffend einen Systemvergleich, einmal unter Einsatz eines Lastschätzers und einmal ohne Lastschätzer; und
- Fig. 7
- in der Art eines hydraulischen Schaltplanes eine digitalhydraulische Ansteuerungseinrichtung
als 6 Bit-Vollbrücke konzipiert.
- Fig. 1a, 1b, 1c
- with conventional hydraulic symbols provided different drive system concepts, once in the manner of a full bridge (
Fig. 1a ) and once a two-quadrant drive via the inlet and outlet of the actuator (Fig. 1b ) and as shown in theFig. 1c Various digitally controllable hydraulic switching and control valves, which replace the adjustable chokes in theFig. 1a, 1b to step; - Fig. 2
- comparable to the representations after the
FIGS. 1a and 1b the essential components of a digital hydraulic drive system with upstream valve device; - Fig. 3
- the basic structure of a control structure for controlling the digital hydraulic drive system;
- Fig. 4a, 4b, 4c
- in the manner of graphs information on the control behavior using DFCU valves;
- Fig. 5a, 5b, 5c
- in the manner of graphs information about the control behavior using PWM valves;
- Fig. 6a, 6b, 6c, 6d
- Evaluation graphs relating to a system comparison, once using a load estimator and once without load estimator; and
- Fig. 7
- designed in the manner of a hydraulic circuit diagram, a digital hydraulic control device as a 6-bit full bridge.
Das betrachtete digitalhydraulische Antriebssystem besteht aus einem hydrostatischen Konstantmotor 10 mit hydropneumatischen Dämpfungsspeichern 12 an beiden Anschlüssen 14, 16. Die Ansteuerung erfolgt durch separate Ventileinheiten oder Ventilgruppen 18 einer Ventileinrichtung 20 an den Zu- und Abstromanschlüssen 14, 16 des Motors 10. Die
In der
Zunächst soll das Aktuatormodell prinzipiell vorgestellt werden.First, the actuator model will be presented in principle.
Der hydrostatische Motor 10 wird als System erster Ordnung
Die Bilanzierung der Volumenströme an den Motoranschlüssen 14, 16 liefert
Die Volumenströme, die in die Dämpfungsspeicher 12 gehen, werden mit qA,1 und qA,2 bezeichnet, der Leckagebeiwert des Motors 10 mit G. Für die beiden Speicher 12 werden einfache nichtlineare Modelle erster Ordnung
Folglich lässt sich das Gesamtmodell des Antriebs (
Die Ventileinheiten 18 der Ventileinrichtung 20 werden nachfolgend aus regelungstechnischer Sicht heraus näher beschrieben. Da, wie bereits zu Beginn erwähnt, der vorgestellte Ansatz zum Entwurf einer Folgeregelung für verschiedene Ventilkonfigurationen Gültigkeit besitzt, werden zwei Typen von digitalhydraulischer Vollbrückenschaltung (
Der Versorgungsdruck und der Tankdruck werden jeweils mit ps und pt bezeichnet. Die Druck-Volumenstromcharakteristik der DFCUs werden durch den Koeffizienten KDFCU repräsentiert. Die Schaltindizes σi,s, σi,t ∈ {0,1,2...,2m-1} bestimmen den Schaltzustand der m-bit DFCUs.The supply pressure and the tank pressure are respectively denoted by p s and p t . The pressure-volume flow characteristics of the DFCUs are represented by the coefficient K DFCU . The switching indices σ i, s , σ i, t ∈ {0,1,2 ..., 2 m -1} determine the switching state of the m-bit DFCUs.
Die Vollbrücke mit PWM-gesteuerten Ventilen 18 wird in ähnlicher Weise modelliert:
Um Kurzschlussströme zu vermeiden, ist jeweils immer nur ein Volumenstrompfad in jedem Brückenzweig aktiv. Eine Unterscheidung basierend auf dem Vorzeichen des angeforderten Volumenstroms qi liefern die Steuerungsgleichungen
Das vorstehend vorgestellte Modell des Antriebs stellt ein nichtlineares Mehrgrößensystem dar. Die Regelung solcher Systeme übersteigt oftmals die Möglichkeiten einfacher PID-Regler. Dies gilt insbesondere für die Folgeregelung. Die so gennante differentielle Flachheit ist eine Systemeigenschaft, die nicht nur den Reglerentwurf sondern auch die Analyse und die Dimensionierung eines Systems sowie die Planung geeigneter Referenztrajektorien erleichtert.The drive model presented above is a non-linear multi-variable system. The control of such systems often exceeds the capabilities of simple PID controllers. This applies in particular to the follow-up regulation. The so-called differential flatness is a system feature that facilitates not only the design of the controller but also the analysis and sizing of a system as well as the planning of suitable reference trajectories.
Die Eigenschaft der differentiellen Flachheit bedingt die Existenz eines sogenannten Flachen Ausgangs. Dieser (virtuelle) Ausgang ist im Allgemeinen eine Funktion der Systemgrößen und ihrer Zeitableitungen. Eine zentrale Eigenschaft der Flachheit ist, dass die Trajektorien aller Sytemgrößen einschließlich der Stellgrößen durch die Trajektorien des flachen Ausgangs eindeutig bestimmt sind, während diese wiederum frei vorgegeben werden können. Dies impliziert, dass das gewünschte Systemverhalten in Form von Trajektorien für die Komponenten eines flachen Ausgangs vorgegeben werden kann. Die resultierende Regelungsaufgabe beschränkt sich dann darauf, die Trajektorienfolge des flachen Ausgangs sicherzustellen, was wiederum dadurch erleichtert wird, dass sich die Stellgrößen unmittelbar aus den Komponenten des flachen Ausgangs berechnen lassen.The property of differential flatness implies the existence of a so-called flat output. This (virtual) output is generally a function of system sizes and their time derivatives. A central feature of the flatness is that the trajectories of all system quantities, including the manipulated variables, are uniquely determined by the trajectories of the flat output, while these can in turn be freely specified. This implies that the desired system behavior can be given in the form of trajectories for the components of a flat output. The resulting control task is then limited to ensuring the trajectory sequence of the flat output, which in turn is facilitated by the fact that the manipulated variables can be calculated directly from the components of the flat output.
Das betrachtete Modell des Antriebs weist die Eigenschaft der differentiellen Flachheit auf. Ein flacher Ausgang y besteht aus der Winkelgeschwindigkeit y1 =ω und dem Summendruck y2 = p1 + p2 an den Motoranschlüssen 14, 16. Unter Verwendung der bereits vorgestellten Modellgleichungen betreffend das Aktuatormodell kann jede Systemgröße durch den flachen Ausgang y und seine Zeitableitungen ausgedrückt werden:
Es sei angemerkt, dass die Flachheitseigenschaft auch erhalten bleibt, wenn die Ventilmodelle nach den Formeln (7) und (8) berücksichtigt werden, da die Stellgrößen σi,s/t und κi,s/t direkt aus den Volumenströmen qi und den Drücken pi berechnet werden, welche wiederum mittels Formel (11) aus dem flachen Ausgang y berechnet werden können. Zur Wahrung der Flexibilität und der Übersichtlichkeit wird der Reglerentwurf dennoch auf der Basis des Aktuatormodells nach Formel (6) durchgeführt. Die Flachheitseigenschaft beschränkt sich nicht exklusiv auf digitalhydraulische Antriebe, sondern lässt sich auf alle Systeme übertragen, die die Struktur (6) aufweisen. Dies gilt auch für hydraulische Linearantriebe wie z.B. Differentialzylinder, sofern die erste Komponente des flachen Ausgangs y durch die Zylinderposition ersetzt wird.It should be noted that the flatness property is also retained when the valve models according to the formulas (7) and (8) are taken into account, since the manipulated variables σ i, s / t and κ i, s / t directly from the volume flows q i and the pressures p i are calculated, which in turn can be calculated from the flat output y by means of formula (11). To maintain the flexibility and the clarity of the controller design is still performed on the basis of the actuator model according to formula (6). The flatness property is not limited exclusively to digital hydraulic drives, but can be transferred to all systems having the structure (6). This also applies to hydraulic linear drives such as differential cylinders, provided that the first component of the flat output y is replaced by the cylinder position.
Im Folgenden wird ohne Beschränkung allgemeiner Grundsätze davon ausgegangen, dass keine Leckage am Motor 10 auftritt, d.h. G =0. Darüber hinaus werden die Vorspannbedingungen beider Speicher 12 als gleich angenommen: V0,1 = V0,2 = V0 und p0,1 = p0,2 = p0.In the following it will be assumed, without limitation of general principles, that no leakage occurs at the
Im Folgenden wird die Flachheitsbasierte Folgeregelung näher erläutert. Dabei beruht der Entwurf der Flachheitsbasierten Folgeregelung auf drei Schritten. Zunächst müssen geeignete Referenztrajektorien für den flachen Ausgang y festgelegt werden. Anschließend werden die Regelgesetze für die Folgeregelung ermittelt. Schließlich werden die vom Folgeregler berechneten Sollvolumenströme als Eingang für die Ventilsteuerung verwendet. Die dahingehende Ventilsteuerung ist als Funktionsblock in der
Ein wesentlicher Vorteil des flachheitsbasierten Entwurfs ist, dass eine Unterscheidung verschiedener Betriebsmodi und das Umschalten zwischen diesen nicht notwendig ist. Da die Sollvolumenströme analytisch aus den Referenztrajektorien und den gemessenen Größen berechnet werden können, ist die einzige notwendige Unterscheidung jene des Vorzeichens dieser Sollvolumenströme, wie bereits in den Stellgesetzen (9) und (10) dargelegt. Im Vollbrückensytem nach der
Im Folgenden wird der Einsatz der Referenztrajektorien näher beschrieben. Der erste Schritt beim Entwurf einer Folgeregelung ist die Vorgabe des gewünschten Systemverhaltens in Form von Referenztrajektorien für den flachen Ausgang y. Abgesehen von Einschränkungen technologischer Natur, wie z.B. Stellgrößenbeschränkungen, können diese Trajektorien frei und definitionsgemäß unabhängig voneinander vorgegeben werden. Wie am vorliegenden Beispiel demonstriert wird, mag es dennoch Vorteile mit sich bringen, eine künstliche Abhängigkeit dieser Trajektorien einzuführen.The use of the reference trajectories will be described in more detail below. The first step in the design of a sequence control is the specification of the desired system behavior in the form of reference trajectories for the flat output y. Apart from limitations of a technological nature, such as Command value limitations, these trajectories can be specified freely and by definition independently. As demonstrated by the present example, it may nevertheless be advantageous to introduce an artificial dependence of these trajectories.
Die Trajektorie für die erste Komponente des flachen Ausgangs y, in Form der Winkelgeschwindigkeit ω, ergibt sich unmittelbar aus der Steuerungsaufgabe. Ein Arbeitspunktwechsel von ω0 zu ωf in der Übergangszeit tf ließe sich beispielsweise durch eine polynomiale Referenztrajektorie der Form
Im nächsten Schritt werden die einzelnen Regelgesetze für die Folgeregelung hergeleitet. Ziel dabei ist es, dass die Folgefehler e1 = y1 - y1,r und e2 = y2 - y2,r asymptotisch gegen Null konvergieren. Dazu wird eine lineare Fehlerdynamik
Eine Zustandsdarstellung des Systems (6) bzgl. des Eingangs (q1,q2) lautet
Die Rückführung
Zusätzlich kann ein Beobachter 36 zum Einsatz kommen, was im Folgenden näher erläutert wird.In addition, an
Der Reglerentwurf aus dem voranstehenden Abschnitt beruht auf der Kenntnis des Lastmoments τ. Eine solche Kenntnis kann entweder auf einer Messung oder einer sehr genauen Kenntnis des zugrunde liegenden Prozesses beruhen. Falls diese Bedingungen jedoch nicht zutreffen, kann eine beobachtergestützte Lastschätzung verwendet werden.The controller design from the previous section is based on the knowledge of the load torque τ. Such knowledge can be based either on a measurement or a very accurate knowledge of the underlying process. However, if these conditions are not met, an observer-based load estimate can be used.
Sofern nur die Drücke p1 und p2 gemessen werden, kann ein Beobachter der Form
Diese Fehlerdynamik kann für q̃1, q̃2 = 0 durch die Wahl geeigneter Beobachterverstärkungen li,j leicht asymptotisch stabil gestaltet werden. Falls die Volumenströme q1 und q2 nicht exakt bekannt sind, was in der Anwendung häufig der Fall ist, wird die Fehlerdynamik nicht-autonom mit den Fehlern q̃1 und q̃2 als Anregung durchgeführt. Dies beeinträchtigt die Verwendbarkeit des Schätzers, speziell im Fall digitalhydraulischer Systeme, bei denen die Abweichungen durch die Umschaltvorgänge der Ventile 18 eine hochdynamische Anregung darstellen. Abhilfe kann geschaffen werden durch Heranziehen einer zusätzlichen Messung der Winkelgeschwindigkeit ω. In diesem Fall kann die Lastschätzung mittels des linearen Beobachters
Zwei Varianten des betrachteten digitalhydraulischen Systems wurden mit dem Simulationsprogramm AMESim simuliert, um die vorgeschlagene Folgeregelung zu illustrieren. Im ersten Fall wird eine Vollbrücke mit 6Bit-DFCUs (
Die Referenztrajektorie der Winkelgeschwindigkeit w umfasst drei Arbeitspunktwechsel. Zunächst wird der Motor 10 aus dem Stillstand auf 900 min-1 beschleunigt, dann auf 100 min-1 gebremst und schließlich erfolgt eine Reversierung auf-600 min-1. Die Ergebnisse der Simulation der DFCU-Brücke sind in den
Es ist ferner zu sehen, dass das System der Referenztrajektorie der Winkelgeschwindigkeit sehr gut folgen kann. In der Detailansicht sind kleinere Oszillationen zu erkennen, die durch die nicht-idealen Umschaltvorgänge der Ventile 18 entstehen. Wie der Darstellung der Druckverläufe entnommen werden kann, führen Abweichungen von den Referenztrajektorien zu einer leichten Verletzung der unteren Schranke pmin. Folglich ist die Berücksichtigung eines Sicherheitsposlters bei der Festlegung dieser Schranke empfehlenswert. Diese Abweichungen haben ihren Ursprung in der vereinfachten Modellierung der Ventile sowie in der beschränkten Bandbreite der Regler.
Der Einfluss des Lastschätzers wird durch
l2 = -2.35·104Nm·s-1 gewählt. Es zeigt sich, dass die Abweichungen der Winkelgeschwindigkeit von ihrer Referenztrajektorie von 18% auf 2% deutlich reduziert werden können durch Verwendung des Lastbeobachters. Zudem zeigt sich, dass die Referenztrajektorie für den Summendruck ohne die Lastschätzung nicht korrekt berechnet werden kann (vgl. Gleichung (13)). Aus diesem Grund verletzt der Druck p2 die untere Schranke bei
pmin =20 bar dauerhaft. Im Gegensatz dazu vermeidet das beobachtergestützte System solche Verletzungen der Beschränkung abgesehen von Spitzen aufgrund der dynamischen Beschränkungen des Systems. Die stark schwankend gezeichneten Verläufe betreffen Simulationswerte ohne Lastbeobachter.The influence of the load estimator is through
l 2 = -2.35 · 10 4 Nm · s -1 . It can be seen that the deviations of the angular velocity from its reference trajectory from 18% to 2% can be significantly reduced by using the load observer. It also shows that the reference trajectory for the total pressure can not be calculated correctly without the load estimate (see equation (13)). For this reason, the pressure p 2 injures the lower barrier
p min = 20 bar permanently. In contrast, the observer-based system avoids such violations of limitation other than spikes due to the dynamic limitations of the system. The strongly fluctuating graphs refer to simulation values without load observers.
Die vorgestellte Erfindung betrifft eine flachheitsbasierte Folgeregelung für einen digitalhydraulischen Antrieb, basierend auf dem Prinzip der aufgelösten Steuerkante. Die vorgestellten Regelungsstrategien vermeiden die Unterscheidung von Betriebsmodi und daraus resultierendem Umschalten zwischen solchen Modi. Der zusätzliche Freiheitsgrad, der mit der zweiten Stellgröße einhergeht, wird dazu verwendet, den Minimaldruck an den Motoranschlüssen 14, 16 festzulegen. Auf diese Weise kann das Entleeren der Dämpfungsspeicher 12 und Kavitation verhindert werden. Darüber hinaus können die Druckverluste bei Verwendung einer variablen Versorgung auf das notwendige Minimum beschränkt werden. Ein Lastschätzer wird wie aufgezeigt verwendet, um das Lastmoment τ an der Motorwelle des Konstantmotors 10 zu bestimmen.
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