EP3039289B1 - Procédé pour déterminer des paramètres hydrauliques dans une pompe à déplacement positif - Google Patents

Procédé pour déterminer des paramètres hydrauliques dans une pompe à déplacement positif Download PDF

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Publication number
EP3039289B1
EP3039289B1 EP14758315.7A EP14758315A EP3039289B1 EP 3039289 B1 EP3039289 B1 EP 3039289B1 EP 14758315 A EP14758315 A EP 14758315A EP 3039289 B1 EP3039289 B1 EP 3039289B1
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Prior art keywords
pressure
displacement element
determined
valve
model
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German (de)
English (en)
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EP3039289A1 (fr
Inventor
Steven Liu
Fabian KENNEL
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Prominent GmbH
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Prominent GmbH
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
    • F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
    • F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
    • F04B17/04—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors using solenoids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
    • F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
    • F04B17/04—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors using solenoids
    • F04B17/042—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors using solenoids the solenoid motor being separated from the fluid flow
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B43/00—Machines, pumps, or pumping installations having flexible working members
    • F04B43/02—Machines, pumps, or pumping installations having flexible working members having plate-like flexible members, e.g. diaphragms
    • F04B43/04—Pumps having electric drive
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/02—Stopping, starting, unloading or idling control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/10—Other safety measures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B51/00—Testing machines, pumps, or pumping installations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0201—Current
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/04—Motor parameters of linear electric motors
    • F04B2203/0401—Current
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/04—Motor parameters of linear electric motors
    • F04B2203/0402—Voltage
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/60—Fluid transfer
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S417/00—Pumps

Definitions

  • the present invention relates to a method for determining hydraulic parameters in a positive displacement pump.
  • the positive displacement pump has a movable displacement element which delimits the metering chamber, which is connected via valves to a suction and pressure line, so that pumped by an oscillating movement of the displacement alternately conveying fluid via the suction line into the metering chamber and are pressed via the pressure line from the metering can.
  • Displacement pumps additionally have a drive for the oscillating movement of the displacer element.
  • the displacer element is a membrane which can be moved back and forth between two extreme positions, wherein in the first extreme position the volume of the metering chamber is minimal, while in the second extreme position the volume of the metering chamber is maximal , Therefore, if the membrane is moved from its first position into the second, the pressure in the dosing chamber will drop, so that the conveying fluid is sucked into the dosing space via the suction line. In the return movement, i.
  • the membrane In electromagnetically driven diaphragm pumps, the membrane is connected to a pressure piece, which is usually spring biased at least partially mounted within an electromagnet. As long as the electromagnet is not traversed by a current, so that no magnetic flux is built up in its interior, the resilient bias ensures that the pressure piece and thus the membrane in a predetermined position, for example, the second position, ie the position in which the Dosing chamber has the largest volume remains. If a current is impressed on the electromagnet, then a magnetic flux is formed, which forms the correspondingly formed pressure element within the electromagnet from its second position brings in the first position, whereby the conveying fluid located in the dosing chamber is conveyed from the dosing into the pressure line.
  • such electromagnetically driven diaphragm pumps are used when the volume of fluid to be metered is significantly greater than the Dosierraumvolumen, so that the metering rate is determined essentially by the frequency or the timing of the current flow through the electromagnet. If, for example, the dosing speed is to be doubled, then the electromagnet is twice as frequently flowed through with a current in the same time, which in turn means that the movement cycle of the diaphragm is shortened and takes place twice as often.
  • Such a magnetic metering pump is for example in the EP 1 757 809 described.
  • control parameters are respectively empirically determined and stored in a memory, so that the pump can retrieve and use the corresponding control parameters as a function of the position of the pressure piece.
  • control parameters are very expensive. In addition, it depends strongly on the conditions in the metering chamber, such as the density and the viscosity of the conveying fluid from. Therefore, the control works satisfactorily only when the system is approximately in the desired state. In particular, in the case of pressure fluctuations on the suction and / or pressure line, the occurrence of cavitation, the accumulation of air in the dosing chamber or changes in viscosity in the conveying fluid are the control parameters stored in the memory unsuitable and the control accuracy decreases, so that the actual metering profile differs significantly from the desired metering profile. However, this is particularly undesirable in the continuous metering of very small quantities, such as in drinking water chlorination.
  • the control accuracy can be improved, for example, by measuring the density and / or viscosity of the delivery fluid and using the measurement result for the selection of the control parameters.
  • the EP 2 557 287 A2 describes a method for metering a reducing agent from a metering device into an exhaust gas treatment device.
  • Modeling Novel Type Diaphragm Pump is proposed in the article "Modeling Novel Type Diaphragm Pump ", Kasa et al., IEEE, International Conference on Networking, Sensing and Control, 2009, pp. 647-652, Okayama, Japan a model of a new type of diaphragm pump is proposed.
  • Hydraulic parameters are understood to mean any parameter of the hydraulic system, apart from the position of the displacer, which influences the flow of the fluid through the metering chamber.
  • Hydraulic parameters are therefore, for example, the density of the delivery fluid in the metering chamber and the viscosity of the fluid in the metering chamber. Further hydraulic parameters are, for example, hose or pipe lengths and diameters of hoses and pipes which are at least temporarily connected to the metering space.
  • the necessary position determination of the displacer element can take place via the usually existing position sensor. From the position of the displacement element, the speed and the acceleration of the displacement element can be determined.
  • the method according to the invention is used in an electromagnetically driven metering pump, and best in the case of an electromagnetically driven diaphragm pump, then so
  • the current through the electromagnetic drive can be measured and the force exerted by the displacement element on the fluid in the dosing space can be determined from the measured current and the measured position of the displacement element.
  • no separate pressure sensor is necessary.
  • the present method can also be used with a separate pressure sensor.
  • valve to the suction line is open and the valve to the pressure line is closed.
  • a flexible hose is mounted on the valve to the suction line, which ends in a reservoir under ambient pressure.
  • This condition is during the so-called suction stroke, i. while the displacer moves from the second position to the first position.
  • This hydraulic system could, for example, be described by means of the nonlinear Navier-Stokes equation taking into account laminar and turbulent flows.
  • the diameter of the hose connecting the suction valve to the reservoir, the length of the hose and the difference in height, which must overcome the fluid in the hose, are to be considered as hydraulic parameters.
  • An optimization calculation is any calculation that finds the optimum parameters of the system.
  • Optimal parameters are the parameters that best describe the system, i. where the difference between model and measured situation becomes minimal.
  • the determination method according to the invention could be carried out solely by a repeated analysis of the suction stroke behavior.
  • the physical model of the hydraulic system can be considered in the case that the valve is closed to the suction line and the valve is open to the pressure line.
  • the pipe system connected to the pressure valve which connects the pressure line to the metering chamber is not known, only a generalized assumption can be made here , The erected physical model can therefore be set up without knowledge of the piping system connected to the pressure valve, not in the accuracy as it is in the described simplest form for the hydraulic system during the suction stroke.
  • the set-up physical model with the hydraulic parameters determined in this way can be used, in turn, to determine the pressure in the dosing space.
  • a model-based control in particular a non-linear model-based control, is used to drive the displacement element.
  • Characteristic of such a model-based control is therefore the constant calculation of the necessary control variable on the basis of measured variables using the system variables given by the model.
  • the position of the displacer and the current through the electromagnetic drive are measured, and for model-based control, a state space model is used which uses the position of the displacer and the current through the solenoid of the electromagnetic drive as measures.
  • the state space model has no further measured variables to be detected, i. H. the model is designed to predict the immediate movement of the pad based only on the detected pad position and the sensed current through the solenoid coil.
  • the specific hydraulic parameters are used.
  • a state space model is usually understood to be the physical description of a current system state.
  • the state variables can describe the energy content of the energy storage elements contained in the system.
  • a differential equation of the displacer may be used as a model for the model-based control.
  • the differential equation may be an equation of motion.
  • An equation of motion is understood to mean a mathematical equation which describes the spatial and temporal movement of the displacer element under the influence of external influences.
  • displacement-pump-specific forces acting on the pressure piece are modeled in the equation of motion.
  • the force exerted by a spring on the pressure element, or its spring constant k, and / or the magnetic force exerted on the pressure element by the magnetic drive can be modeled.
  • the force exerted by the conveying fluid on the pressure piece force can then be treated as a disturbance.
  • This disturbance can then also be modeled in a particularly preferred embodiment using the particular hydraulic parameters.
  • the influence of the available manipulated variables on the controlled variable can be simulated in the same model. With the aid of known optimization methods, the currently best control strategy can then be selected adaptively. Alternatively, it is also possible to determine a control strategy once on the basis of the model and then to apply this as a function of the acquired measured variables.
  • a nonlinear state space model is selected as the state space model and the nonlinear control takes place either via control Lyapunov functions, via flatness-based control methods with flatness-based feedforward control, via integrator backstepping methods, via sliding-mode methods or via predictive control.
  • Nonlinear control over control Lyapunov functions is preferred.
  • Control Lyapunov functions are a generalized description of Lyapunov functions. Appropriately chosen control Lyapunov functions lead to a stable behavior within the model.
  • the model underlying the model-based control is used to formulate an optimization problem in which, as a constraint of the optimization, the electrical voltage at the electric motor and thus the energy supplied to the metering pump is as small as possible, but at the same time as fast and as little as possible overshooting approach of the actual profile to the target profile is achieved.
  • the measured signals are low-pass filtered prior to processing in the underlying model to reduce the influence of noise.
  • a self-learning system is realized here.
  • the model-based control according to the invention has already led to a significant improvement in the control behavior, it can nevertheless lead to deviations between the desired profile and the actual profile. This is unavoidable especially in the case of energy-minimizing selection of the control intervention.
  • the deviation is detected during one cycle and the detected deviation at the next cycle is at least partially subtracted from the desired setpoint position profile.
  • a following pressure-suction cycle is intentionally given a "wrong" setpoint profile, and the "wrong" setpoint profile is calculated from the experience gained in the previous cycle. If, in the following suction-pressure cycle, exactly the same deviation between the actual and desired profile occurs as in the previous cycle, then using the "wrong" setpoint profile results in the actual desired setpoint profile is reached.
  • the difference between the actual and desired profile is determined at regular intervals, preferably at each cycle, and taken into account accordingly in the subsequent cycle.
  • any function dependent on the detected difference may be used to correct the next desired position profile.
  • the modeling of the invention may be used in another preferred embodiment to determine a physical quantity in the positive displacement pump.
  • the fluid pressure in the dosing chamber can be determined.
  • the equation of motion of the displacer takes into account all forces acting on the displacer. In addition to the force applied by the drive to the displacement element, this is also the counterforce applied by the fluid pressure in the dosing space to the membrane and thus to the displacement element.
  • a warning signal may be issued and the warning signal may be sent to an automatic cut-off device which shuts down the metering pump in response to the receipt of the warning signal. Should therefore for some reason a valve does not open or the pressure on the pressure line rise sharply, this can be determined by the inventive method without using a pressure sensor and the pump can be shut off for safety's sake.
  • the displacement element with the associated drive additionally assumes the function of the pressure sensor.
  • a target fluid pressure curve, a desired position curve of the displacer element and / or the desired current profile are stored by the electromagnetic drive for a movement cycle of the displacement element.
  • the actual fluid pressure with the desired fluid pressure, the actual position of the displacer with the desired position of the displacer and / or the actual current can be compared by the electromagnetic drive with a desired current through the electromagnetic drive and, if the differences between the actual value and the target value fulfill a predetermined criterion, a warning signal is output.
  • This method step is based on the idea that certain events, such as gas bubbles in the hydraulic system or cavitation in the pump head cause a recognizable change in the expected fluid pressure and therefore conclusions about the above events can be drawn from the determination of the fluid pressure.
  • the warning signal can activate, for example, a visual display or an acoustic display. Alternatively or in combination, however, the warning signal can also be provided directly to a control unit, which takes appropriate action in response to the receipt of the warning signal.
  • the difference between the actual and desired values is determined for one or more of the measured or determined variables, and if one of the differences exceeds a predetermined value, a warning signal is output.
  • a weighted sum of the relative deviations from the target value may be determined and the criterion selected such that a warning signal is output when the weighted sum exceeds a predetermined value.
  • the different error events can be assigned different weighting coefficients. Ideally, when a miss event occurs, exactly one criterion is met so that the fault event can be diagnosed.
  • the described method therefore makes it possible to determine the pressure in the dosing head without resorting to a pressure sensor, and conclusions can be drawn from the pressure determined in this way be pulled to certain states in the dosing, which in turn can trigger the initiation of certain measures.
  • the temporal gradient of a measured or determined variable is determined and, if this exceeds a predetermined limit value, the valve opening or the valve closure is diagnosed.
  • the mass m of the displacement element, the spring constant k of the spring biasing the displacement element, the damping d and / or the electrical resistance R Cu of the electromagnetic drive are determined as the physical variable.
  • all of the variables mentioned are determined. This can be done for example by a minimization calculation.
  • All of the above-mentioned variables represent constants which can be determined experimentally and generally do not change during pumping operation. Nevertheless, it can lead to fatigue of the different elements that change the value of the constant.
  • the measured pressure-path curve can be compared with an expected pressure-path curve.
  • the integrated over a cycle difference from both gradients can be minimized by varying the constant sizes. If one puts thereby for example If the spring constant has changed, a faulty spring can be diagnosed.
  • the measured variables or external variables to be determined are the position of the displacer element or the speed and acceleration of the displacer element determined therefrom, and the pressure in the metering space, which can be determined via the force exerted by the membrane on the conveying fluid.
  • the suction line consists of a hose which connects the suction valve with a reservoir can, for the suction stroke, ie while the pressure valve is closed and the suction valve is opened, the hydraulic system will be described in simplified FIG. 1 is shown.
  • the suction line consists of a hose with the diameter Ds and the hose length L.
  • the hose bridges a height difference Z.
  • the non-linear Navier-Stokes equations can be simplified if it is assumed that the suction line has a constant diameter and is not stretchable and that an incompressible fluid is used.
  • the hydraulic parameters are now determined which, based on the established model, can best describe the measured position of the pressure piece as well as the measured or specific pressure in the dosing space.
  • the parameters determined by the method according to the invention can in turn be used, together with the established physical model, to determine the force exerted by the hydraulic system on the pressure piece.
  • This information can be used for the regulation.
  • model-based non-linear control strategies are used to control the movement of the pressure piece
  • the model developed here can physically map the influence of the hydraulic system and take this into account in the form of a feedforward control.
  • Such a magnetic metering pump has a movable pressure piece with a push rod fixedly connected thereto.
  • the pressure piece is axially movably mounted in a longitudinally fixed in the pump housing in the magnetic jacket, so that the pressure piece is drawn with push rod in the electrical control of the magnetic coil in the magnetic jacket against the action of a compression spring in a bore of the magnetic shell and the pressure piece after deactivation of the magnet returns to the starting position by the compression spring.
  • the pressure stroke can last very long, especially in applications where only very small amounts of fluid are to be dispensed. This has the consequence that the pressure piece moves only gradually in the direction of the dosing.
  • the movement of the pressure piece must be regulated. Usually, only the position of the pressure piece and the size of the current through the magnetic coil are available as a measured variable.
  • the model can be used to calculate the anticipated influence of a control intervention.
  • this difference is measured during a pressure-suction cycle and used as the desired profile for the following cycle, the sum of the measured difference and the desired nominal profile.
  • the pressure-stroke cycle repeats itself.
  • a setpoint profile is deviated which deviates from the actual desired setpoint profile.
  • FIG. 4 shown schematically. Shown is the position of the pressure piece on the Y axis and the time on the X axis.
  • a reference profile used for the control is shown with a dashed line.
  • This desired profile corresponds to the desired nominal profile, which is shown for comparison in the third cycle as a reference profile.
  • the actual profile deviates from the target profile.
  • FIG. 4 is therefore an example of an actual profile shown by a solid line. The deviations between actual and nominal profile for clarity are more pronounced than they occur in practice.
  • the difference between the actual profile of the first cycle and the reference profile is subtracted from the desired profile used for the first cycle, and the difference is used as a target profile for the control during the second cycle.
  • the so-obtained target profile is shown in dashed lines in the second cycle.
  • the actual profile deviates to the same extent from the desired profile used, as was observed in the first cycle. This results in an actual profile (drawn with a solid line in the second cycle), which corresponds to the reference profile.
  • the force on the pressure piece can be determined by the fluid pressure in the delivery space. Since the surface of the pressure piece, which is acted upon by the fluid pressure is known, can be calculated from the force of the fluid pressure.
  • the described design of a non-linear system description of the electromagnetic metering pump system makes it possible to use model-based diagnostic methods. For this, the state variables of the system models are evaluated and the pressure in the pump head of the electromagnetic dosing pump is determined. The necessary current and position sensors are already installed in the pump system for control purposes, so that the information is already available without the structure of the metering pump must be supplemented. Based on the temporal change of the state variables and the pressure in the dosing head of the pump, the diagnostic algorithms can then be executed.
  • the model-based diagnosis of process-side overpressure and the automated pump shutdown can be realized.
  • the detection of the valve opening and valve closing times can be done, for example, by determining and evaluating temporal gradients of coupled state variables of the system model.
  • An overshoot or undershoot of the state gradients can be detected by means of predetermined barriers, which leads to the detection of the valve opening and valve closing times.
  • the pressure in dependence on the position of the pressure piece can be determined and the valve opening and valve closing times are derived from an evaluation.
  • a corresponding pressure-path diagram is in FIG. 5 shown on the left. In FIG. 5 on the right is the associated path-time diagram.
  • FIG. 5 on the left the associated pressure-distance diagram is shown. It is traversed in a clockwise direction, starting at the point of origin, where the pressure piece is in position 1. During the pressure phase, the pressure in the dosing chamber will initially rise sharply until the pressure is able to open the valve to the pressure line. Once the pressure valve is opened, the pressure in the metering chamber remains substantially constant. The opening point is marked with the number 2. From this point in time also in FIG. 5 is entered on the right, it comes to a dosage. With each further movement of the pressure piece dosing fluid is pumped into the pressure line.
  • time 3 As soon as the pressure piece has reached the maximum position (time 3), the movement of the pressure piece turns over, the pressure valve closes immediately and the pressure in the dosing chamber drops again. Once a minimum pressure is reached (time 4) opens the suction valve, which connects the dosing with the suction line, and dosing fluid is sucked into the dosing until the starting position is reached.
  • the valve closing times can be determined from the path-time diagram, since they are on the maximum travel of the pressure piece.
  • gas bubbles in the hydraulic system, cavitation in the pump head of the metering unit and / or valve opening and valve closing times of the metering units can be diagnosed. Especially then, if between the target and actual trajectories a predetermined error limit is exceeded, this can trigger a warning signal and appropriate action.
  • FIG. 6 An example is in FIG. 6 shown. Again, the pressure-distance diagram is shown on the left and the path-time diagram on the right. The right figure is identical to the corresponding diagram of FIG. 5 , If there are gas bubbles in the hydraulic system which are compressible, this will cause the pressure valve to open only at time 2 'and the suction valve to open only at time 4'. A clear shift of the valve opening times can thus be used to diagnose the condition "air in the metering chamber". In the case of cavitation, only the valve opening timing 4 'but not the valve opening timing 2 shifts so that such a behavior for diagnosing the "cavitation" state can be used.
  • the presented model-based methodology allows a much more comprehensive and higher-quality diagnosis by analyzing the individual coupled system state variables than has hitherto been realized.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
  • Reciprocating Pumps (AREA)

Claims (18)

  1. Procédé pour déterminer des paramètres hydrauliques dans un système hydraulique avec une pompe à déplacement positif qui est reliée à une conduite d'aspiration et une conduite de refoulement, la pompe à déplacement positif comprenant un élément de déplacement mobile qui délimité le volume de dosage qui est relié à la conduite d'aspiration et à la conduite de refoulement par des soupapes, si bien que, par un mouvement oscillatoire de l'élément de refoulement, du fluide de transport peut être aspiré via la conduite d'aspiration vers le volume de dosage et refoulé du volume de dosage via la conduite de refoulement, un entraînement étant prévu pour le mouvement oscillatoire de l'élément de déplacement, caractérisé en ce qu'un modèle physique avec des paramètres hydrauliques est établi pour le système hydraulique, en ce que sont déterminés l'effort exercé par l'élément de refoulement sur le fluide se trouvant dans le volume de dosage ou la pression dans le volume de dosage, ainsi que la position de l'élément de refoulement et qu'il est calculé, à l'aide d'un calcul d'optimisation, au moins un paramètre hydraulique qui, sur la base du modèle physique établi, décrit au mieux la position déterminée de l'élément de refoulement ainsi que l'effort exercé ou la pression dans le volume de dosage.
  2. Procédé selon la revendication 1, caractérisé en ce qu'est déterminé comme paramètre hydraulique, la densité du fluide dans le volume de dosage et/ou la viscosité du fluide dans le volume de dosage.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que la pompe à déplacement positif est une pompe de dosage entraînée de manière électromagnétique, de préférence une pompe à membrane entraînée de manière électromagnétique.
  4. Procédé selon la revendication 3, caractérisé en ce que le courant passant par l'entraînement électromagnétique est mesuré et que l'effort exercé par l'élément de refoulement sur le fluide se trouvant dans le volume de dosage est déterminé à partir du courant mesuré et de la position mesurée de l'élément de refoulement.
  5. Procédé selon la revendication 3 ou 4, caractérisé en ce que le modèle physique est établi pour le cas où la soupape vers la conduite d'aspiration est ouverte et la soupape vers la conduite de refoulement est fermée, et/ou pour le cas où la soupape vers la conduite d'aspiration est fermée et la soupape vers la conduite de refoulement est ouverte, et dans le cas où le modèle physique est établi aussi bien pour le cas où la soupape vers la conduite d'aspiration est ouverte et la soupape vers la conduite de refoulement est fermée que pour le cas où la soupape vers la conduite d'aspiration est fermée et la soupape vers la conduite de refoulement est ouverte, les moments d'ouverture des soupapes sont déterminés et le modèle physique est choisi en fonction du résultat de la détermination des moments d'ouverture des soupapes.
  6. Procédé selon l'une des revendications 1 à 5, caractérisé en ce que, après la détermination du paramètre hydraulique, celui-ci et le modèle physique sont utilisés pour la détermination de l'effort exercé par le fluide de transport sur l'élément de l'élément de refoulement et l'effort ainsi déterminé est utilisé pour la régulation du mouvement de l'élément de refoulement.
  7. Procédé l'une des revendications 1 à 6, caractérisé en ce que, pour l'optimisation du profil de dosage de la pompe à déplacement positif, une régulation basée sur un modèle est utilisée pour l'entraînement.
  8. Procédé selon la revendication 7, caractérisé en ce qu'il est utilisé comme modèle pour la régulation basée sur un modèle, une équation différentielle et, de préférence, une équation de mouvement de l'élément de refoulement.
  9. Procédé selon la revendication 7 ou 8, caractérisé en ce que sont modélisés dans l'équation différentielle, des efforts spécifiques pour la pompe à déplacement positif qui agissent sur la pièce de pression.
  10. Procédé selon l'une des revendications 7 à 9, caractérisé en ce qu'il est utilisé comme modèle d'état du volume, un modèle d'état du volume non linéaire, la régulation non linéaire étant effectuée soit à l'aide de fonctions Control-Lyapunov, soit selon des méthodes de régulation basées sur le degré de planéité avec une commande pilote basée sur le degré de planéité, soit selon des méthodes dites d'intégrateur Backstepping, soit selon des méthodes dites Sliding mode ou à l'aide d'une régulation prédicative, la régulation non linaire à l'aide de fonctions Control-Lyapunov étant préférée.
  11. Procédé selon l'une des revendications 7 à 10, caractérisé en ce que la différence entre le profil réel saisi de positions de l'élément de refoulement et un profil de consigne prédéterminé de positions de l'élément de refoulement est saisi pendant un cycle d'aspiration et de refoulement et en ce qu'est utilisé comme profil de valeurs de consigne pour le prochain cycle d'aspiration et de refoulement, la différence entre au moins une partie de la différence saisie et le profil de consigne prédéterminé de positions.
  12. Procédé selon l'une des revendications 7 à 11, caractérisé en ce qu'une grandeur physique dans la pompe à déplacement positif est déterminée à l'aide de l'équation différentielle ou de mouvement.
  13. Procédé selon la revendication 12, caractérisé en ce qu'est déterminé comme grandeur physique, la pression de fluide p d'un fluide de transport se trouvant dans le volume de dosage d'une pompe à déplacement positif.
  14. Procédé selon l'une des revendications 12 à 13, caractérisé en ce que, lorsque la pression de fluide réel atteint ou dépasse une valeur maximale prédéterminée, un signal d'alarme est émis et que le signal d'alarme est envoyé de préférence à un automatisme d'arrêt qui, en réponse à la réception du signal d'alarme, arrête la pompe de dosage.
  15. Procédé selon l'une des revendications 12 à 14, caractérisé en ce qu'il est stocké pour un cycle de mouvement de l'élément de refoulement, une courbe de consigne de pression du fluide, une courbe de consigne de positions de l'élément de refoulement et/ou la courbe de consigne du courant passant par l'entraînement électromagnétique et que sont comparés la pression réelle du fluide avec la pression de consigne du fluide, la position réelle de l'élément de refoulement avec la position de consigne de l'élément de refoulement et/ou le courant réel passant par l'entraînement électromagnétique avec le courant de consigne censé passer par l'entraînement électromagnétique et que, lorsque les différences entre les valeurs réelles et les valeurs de consigne répondent à un critère prédéterminé, un signal d'alarme est émis.
  16. Procédé selon la revendication 15, caractérisé en ce que la somme pondérée des déviations relatives de la valeur de consigne est déterminée et que le critère est choisi de façon telle qu'un signal d'alarme soit émis lorsque la somme pondérée dépasse une valeur prédéterminée.
  17. Procédé selon la revendication 15 ou 16, caractérisé en ce que plusieurs critères sont prédéterminés, qu'un événement d'erreur est associé à chaque critère et que, lorsqu'il est répondu à un critère, l'événement d'erreur associé est diagnostiqué.
  18. Procédé selon l'une des revendications 7 à 17, caractérisé en ce que sont déterminées comme grandeur physique la masse m de l'élément de refoulement, la constante de ressort k du ressort précontraignant l'élément de refoulement, l'amortissement d et/ou la résistance électrique RCu de l'entraînement électromagnétique.
EP14758315.7A 2013-08-29 2014-08-21 Procédé pour déterminer des paramètres hydrauliques dans une pompe à déplacement positif Active EP3039289B1 (fr)

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DE102013109411.2A DE102013109411A1 (de) 2013-08-29 2013-08-29 Verfahren zur Bestimmung von hydraulischen Parametern
PCT/EP2014/067817 WO2015028386A1 (fr) 2013-08-29 2014-08-21 Procédé de détermination de paramètres hydrauliques dans une pompe volumétrique

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EP3039289B1 true EP3039289B1 (fr) 2017-09-27

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KR (1) KR20160046855A (fr)
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CA (1) CA2920224C (fr)
DE (1) DE102013109411A1 (fr)
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CN105492767B (zh) 2018-03-06
HK1220751A1 (zh) 2017-05-12
ES2648915T3 (es) 2018-01-08
EP3039289A1 (fr) 2016-07-06
DE102013109411A1 (de) 2015-03-05
WO2015028386A1 (fr) 2015-03-05
DK3039289T3 (da) 2017-11-27
JP2016529441A (ja) 2016-09-23
CN105492767A (zh) 2016-04-13
CA2920224A1 (fr) 2015-03-05
KR20160046855A (ko) 2016-04-29
US20160305419A1 (en) 2016-10-20
CA2920224C (fr) 2021-03-09

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