EP3173163A1 - Procédé de commande ou de régulation du mouvement d'un outil, système hydraulique, presse dotée de coussin de serre-flan et dispositif de commande - Google Patents

Procédé de commande ou de régulation du mouvement d'un outil, système hydraulique, presse dotée de coussin de serre-flan et dispositif de commande Download PDF

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Publication number
EP3173163A1
EP3173163A1 EP15197033.2A EP15197033A EP3173163A1 EP 3173163 A1 EP3173163 A1 EP 3173163A1 EP 15197033 A EP15197033 A EP 15197033A EP 3173163 A1 EP3173163 A1 EP 3173163A1
Authority
EP
European Patent Office
Prior art keywords
electric machine
hydraulic system
tool
model
movement
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.)
Withdrawn
Application number
EP15197033.2A
Other languages
German (de)
English (en)
Inventor
Ingo Geier
Frank Knoche
Peter MOURLAS
Klaus Oberndorfer
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.)
Siemens AG
Original Assignee
Siemens AG
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 Siemens AG filed Critical Siemens AG
Priority to EP15197033.2A priority Critical patent/EP3173163A1/fr
Publication of EP3173163A1 publication Critical patent/EP3173163A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D24/00—Special deep-drawing arrangements in, or in connection with, presses
    • B21D24/10—Devices controlling or operating blank holders independently, or in conjunction with dies
    • B21D24/14—Devices controlling or operating blank holders independently, or in conjunction with dies pneumatically or hydraulically
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/007—Simulation or modelling
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20538—Type of pump constant capacity
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20561—Type of pump reversible
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/27—Directional control by means of the pressure source
    • 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
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
    • 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
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • 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
    • F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7052—Single-acting output members

Definitions

  • the invention relates to a method for controlling a movement of a tool and a hydraulic system. Furthermore, the invention relates to a die cushion press and a control device.
  • Cushion presses are widely used today for machining workpieces.
  • Die cushion presses have a tool that is equipped with a workpiece, in particular a sheet metal.
  • the sheet is processed with a pressing tool that periodically moves down.
  • the tool on which the workpiece is positioned also retracts with a delay.
  • a process force and a process speed are adjustable.
  • the process force and the process speed have to be adjusted for a gentle machining of the workpiece in order not to destroy the workpiece during machining.
  • a regulation of the process force and the process speed is preferably carried out by a hydraulic system.
  • a modern hydraulic system has a pump, wherein the pump is adjustable by means of a pressure sensor.
  • Pumps typically include a flow regulator and an electric machine.
  • the object is achieved by a hydraulic system for controlling a movement of a tool, in particular a drawing cushion of a die cushion press, according to claim 1.
  • the hydraulic system comprises a hydraulic cylinder coupled to the tool, a flow controller connected to the hydraulic cylinder, the flow controller coupled to an electric machine, a control device configured to control the electric machine, at least one measuring means for Detecting a loading condition and / or a movement of the tool or the electric machine.
  • the at least one measuring means for outputting a signal in the presence of a loading condition and / or a movement of the tool or the electric machine to the control means is formed, wherein the means for detecting the load condition and / or movement as a force sensor, as a position sensor and / or is designed as an electricity sensor and / or as a donor.
  • control device has a model of the hydraulic system.
  • the model provides motion parameters for the electric machine.
  • the electric machine is controlled or regulated by means of the movement parameters.
  • the object is further achieved by a die cushion press according to claim 10.
  • the object is further achieved by a method according to claim 11.
  • the at least one measuring means is designed as a force sensor, as a position sensor, as an encoder and / or as an electricity sensor.
  • the provision of the at least one movement parameter for controlling or regulating the electric machine is carried out by means of a model.
  • An advantageous feature of the invention is, without the use of a pressure sensor, to provide a stable control or regulation of the movement of the tool.
  • control device requires the (output) signal of the pressure sensor, that is to say the determined pressure of the hydraulic medium, for the regulation of the electrical machine.
  • the pressure of the hydraulic medium is calculated here either with the aid of the model and / or replaced by at least one signal of a measuring means.
  • the workpiece is machined by a pressing tool.
  • a high force is exerted on the workpiece.
  • the tool is moved down when machining the workpiece.
  • the movement of the tool is initiated by the pressing tool.
  • the underside of the tool is connected to the hydraulic cylinder.
  • the movement of the tool leads to a change in an extended position of the hydraulic cylinder.
  • the hydraulic cylinder has at least one chamber which is filled with a hydraulic medium.
  • the hydraulic medium flows through a flow regulator.
  • the flow regulator is used to convert the flow of the hydraulic medium into a rotational movement.
  • the rotational movement is absorbed by the electric machine.
  • mechanical energy is converted by the electric machine into electrical energy.
  • the electrical machine can thus be advantageous for recovery be used by energy.
  • the electrical energy can be stored for this purpose in an energy storage.
  • the tool for receiving the workpiece is connected to a plurality of hydraulic cylinders.
  • the plurality of hydraulic cylinders may be operatively connected to a flow regulator.
  • the tool is connected at its bottom with two, three or four hydraulic cylinders.
  • the hydraulic cylinders are each connected to a flow regulator.
  • the flow regulator and the electric machine form a pump. If the electric machine has an encoder, then the pump is a servo pump.
  • the flow regulator in combination with the electric machine is used to control the position of the tool, the process speed, the process force and the return of the tool to the starting position.
  • the speed of the electric machine depends on the speed of the tool.
  • the speed of the tool when machining the workpiece is also referred to as process speed.
  • the speed of the electrical machine can be determined by means of an encoder on the electric machine.
  • the speed can also be determined with the electricity sensor.
  • the frequency of the voltage and the current depends on the speed.
  • the frequency of the voltage and / or the current is advantageously determined by means of the electricity sensor.
  • the torque which acts on the electric machine depends on the force exerted by the pressing tool on the workpiece and / or the tool.
  • the force acting on the tool is also called process force.
  • the measuring means can be designed as a force sensor.
  • a force gauge is used to determine the force exerted on the tool and / or the workpiece to be machined.
  • the measuring means can also be provided as a position sensor for determining the position of the tool.
  • the position sensor is advantageously associated with the hydraulic cylinder.
  • the position sensor is advantageously used to determine the extended position of the piston of the hydraulic cylinder.
  • the position sensor can also be used to determine the process speed.
  • the process speed is the first time derivative of the determined position.
  • Movement parameters are electrical machine torque, electrical machine rotational speed, electrical machine supply voltage, electric machine supply current, frequency of voltage and / or current for the electric machine. Movement parameters can also be an intended process force and / or a designated process speed.
  • the supply voltage and / or the supply current for the electric machine is the current or the voltage which are applied to the coils of the electrical machine. The admission takes place with the aid of the control device.
  • the electric machine is connected to the control device. If the tool and thus the rotor of the electric machine moves, energy in the electric machine is transferred to the control device. For a movement of the tool into a starting position, the control device advantageously provides electrical energy for the electrical machine.
  • the control device is used to control and / or to control the movement of the tool.
  • the control device is used to control or to regulate the movement in the electric machine.
  • the electric machine is used to control the movement of the tool.
  • the controller represents the Voltage and / or current ready for the electric machine.
  • the control device provides the supply voltage or the supply current for the electric machine on the basis of the movement parameters. To provide the supply voltage or the supply current serve a voltage converter and / or a converter.
  • the control device may also be designed to remove the electrical energy from the electrical machine, wherein the electrical energy is provided to an energy store and / or a supply network.
  • the inverter For converting the voltage or the current is advantageously the inverter.
  • the model is used to calculate the motion parameters for the electric machine.
  • the model can be a self-sufficient model. Autarkic means here that the model manages without further input variables like a signal from a measuring device.
  • a self-sufficient model motion parameters due to physical relationships, in particular taking into account the design of the hydraulic system, calculated.
  • the model has an empirically determined or determined by a simulation relationship between the position of the tool and a movement parameter, e.g. the torque, for the electric machine on.
  • the model can also be largely self-sufficient, so that a signal of a measuring means is provided only to improve the model.
  • the calculation of the motion parameters also takes place in the largely self-sufficient model without the signal.
  • the model calculates a pressure value.
  • a pressure value is the signal of a pressure sensor.
  • the model calculates the pressure value using the methods outlined below.
  • the pressure value is provided to the controller.
  • the control device controls and / or regulates the electric machine. By the control or regulation of the electric machine the control device controls or regulates the movement of the tool and thus the machining of the workpiece.
  • the model calculates in an advantageous embodiment based on the movement of the electric machine, the torque of the electric machine or a counter torque of the electric machine.
  • the counter torque is the torque that opposes the electric machine to a movement of the rotor through the flow regulator.
  • the model in particular accesses a signal from an electricity sensor.
  • the controller Depending on the torque applied to the electric machine or the induced speed, the controller provides a voltage or current to the electric machine to control the movement.
  • the model is preferably an executable computer program and installed on a computing unit for execution.
  • a model can be configured as an additional program, as an "app” (application) or as a software extension or software module.
  • Models 2), 3) and 4) are largely observer systems that can directly calculate motion parameters.
  • the models can take into account or calculate variables such as the temperature of the hydraulic medium, the viscosity of the hydraulic medium or aging of the hydraulic system.
  • the hydraulic system also saves some of the energy involved in machining the workpiece.
  • the electric machine serves as a generator during an induced movement in the electric machine and generates electrical power Energy.
  • the energy can be transmitted with the aid of the control device to an energy storage and / or a supply network.
  • the energy stored in the energy store can, in particular with the help of the electric machine, be used to return the tool to the starting position.
  • the electrical machine and / or the control device can be designed so that the energy consumption is minimal.
  • the model in the form of software is advantageously installed on a computing unit, wherein the arithmetic unit is assigned to the control device.
  • An advantageous embodiment of the hydraulic system is characterized in that the force sensor is associated with the tool.
  • the force sensor may be positioned on the surface of the tool in the region of the bearing surface for the workpiece.
  • the force sensor may also be associated with the pressing tool which moves the tool downwards.
  • the process force can be determined directly by a force sensor on the tool. Based on the directly determined process force, the control of the electrical machine can be stabilized.
  • the model for calculating a process force and / or a process speed is provided.
  • the process force can either be determined with the aid of the force sensor or calculated with the aid of the model.
  • the process force is the model and / or the control device provided for the control and / or regulation of the electrical machine.
  • the process speed can be determined with the position sensor and / or the electricity sensor.
  • the electricity sensor determines the voltage and / or the current in the electric machine. In particular, by the frequency of the voltage or the current is a very accurate determination of the speed of the electric machine possible.
  • a time-dependent determination of the position of the tool by means of the position sensor can be carried out a direct determination of the process speed.
  • the process force and / or the process speed are provided to the control device for controlling the electrical machine.
  • the process force and / or the process speed can also be provided as input for the model.
  • the model advantageously calculates the motion parameters from the process speed and / or the process force.
  • the process force and / or the process speed can also be made available as motion parameters of the control device itself.
  • the process force and the process speed are particularly advantageous for improving the model, so that the model can be regularly adapted to the hydraulic system.
  • the model calculates a pressure value of a hydraulic medium, in particular for controlling the electric machine.
  • the pressure value which is determined according to the prior art with a pressure sensor, with Help of the model calculated.
  • the model is provided for replacement of the pressure sensor.
  • the model comprises a relationship of the signal with the load and / or the movement of the tool.
  • the transmitter and / or the electricity sensor are associated with the electric machine.
  • the encoder determines the angular position of the rotor of the electric machine.
  • the encoder is thus suitable for determining the rotational speed of the electrical machine.
  • the speed of the tool can be determined indirectly via the encoder.
  • the electricity sensor determines the voltage and / or the current of the electric machine - in particular their time course.
  • the hydraulic system is able to transfer part of the hydraulic medium into a tank or remove it from the tank.
  • a variable amount of hydraulic medium in the hydraulic system By a variable amount of hydraulic medium in the hydraulic system, a simple regulation of the initial position of the tool and the pressure value of the hydraulic medium is possible.
  • the control device can also be provided.
  • control device has a converter, wherein the converter is provided for controlling and / or regulating the electric machine.
  • the inverter is a frequency converter for power supply or current consumption of the electrical machine.
  • the inverter is a foreign-controlled inverter.
  • the electrical machine is a synchronous machine.
  • the inverter can be integrated in the control device.
  • the inverter controls the electric machine based on the movement parameters that are specified by the model and / or the control device.
  • inverter in particular a foreign-controlled frequency converter
  • electrical energy can be transferred from the electric machine into the energy store and / or the supply network and from where the electrical machine is fed again. In this way, part of the energy can be recovered while machining the workpiece.
  • the at least one electricity sensor is used to determine the current and / or the voltage in the electrical machine, wherein the electricity sensor is designed to provide the signal to the converter.
  • the converter serves to control and / or regulate the current and / or the voltage in the electrical machine.
  • the electricity sensor can also be assigned to the control device.
  • the electricity sensor is advantageously assigned to the inverter.
  • this embodiment is a compact design of the hydraulic system. The design has short paths for the signal provided by the measuring means.
  • the model is self-sufficient.
  • the model provides the motion parameters and / or the pressure of the hydraulic medium without a signal of the measuring means available.
  • the measuring means and the signal are optional for the improvement of the model, which in this case accesses the signal irregularly.
  • the measuring means are no longer necessary for controlling the electrical machines and thus for controlling the hydraulic system or the die-cushion press. A defect of a measuring means therefore advantageously no longer leads to a failure of the hydraulic system.
  • the model is a self-learning model.
  • the model is advantageously expandable with a neural network.
  • the neural network can collect information about the hydraulic system through a learning curve and this information can advantageously be used to improve the control of the electrical machine or the hydraulic system.
  • the calculation of the motion parameters is largely self-sufficient.
  • the signal provided by the at least one measuring means optionally serves to improve the model.
  • the method of controlling the movement of the tool is supported by the model.
  • the model calculates motion parameters and / or quantities such as the pressure of the hydraulic medium in the hydraulic system.
  • autonomous means that the calculation of the above variables is done without reference to the input signal. Only for improving and / or balancing the model with the hydraulic system, the signal is used.
  • the movement parameters are a torque or a rotational speed of the electric machine.
  • the (intended) speed and the (intended) torque are provided by the model.
  • the variables are used to control and / or regulate the electrical machine.
  • the model calculates a process force, a pressure value of a hydraulic medium and / or a process speed. Based on the process force, the pressure value of the hydraulic medium and / or the process speed, the electric machine is controlled or regulated.
  • the quantities calculated here are provided to the control device.
  • the sizes can partially replace the signals from pressure sensors.
  • a pressure sensor and / or a force sensor can be omitted or temporarily faulty, without the control device failing.
  • FIG. 1 shows a first embodiment of the hydraulic system.
  • the hydraulic system has a tool W on which a workpiece WS is positioned.
  • the tool W is connected to a hydraulic cylinder HZ.
  • the hydraulic cylinder HZ has a lower chamber K1 and an upper chamber K2.
  • the lower chamber K1 of the hydraulic cylinder HZ is filled with a hydraulic medium K.
  • the hydraulic medium K is transferred during a movement of the tool W down (shown by the arrow) through a flow regulator DR in a tank T.
  • the flow regulator DR converts the flow energy of the hydraulic medium K into a rotational energy. wherein the rotational energy is transmitted to an electric machine M.
  • the electrical machine M has an encoder G, wherein the encoder G is provided for determining the angular position or for determining the rotational speed of the electric machine M.
  • the flow regulator DR and the electric machine M are coupled by a shaft.
  • the shaft is connected to the rotor of the electric machine M.
  • the electric machine M and the flow controller DR together form a pump P. Since the electric machine M has a sensor G, the electric machine M, the flow controller DR and the encoder G forms a servo pump.
  • the electric machine M is connected to a control device SE.
  • the control device SE further has an input for the encoder G.
  • the control device SE comprises a converter U.
  • To calculate motion parameters such as rotational speed and / or torque of the electric machine M the control device SE has a model MD.
  • the model MD optionally has a characteristic curve KL.
  • the characteristic KL connects, for example, the induced movement of the electric machine M with a torque or a supply voltage, the supply voltage being applied to the electric machine M with the aid of the converter U.
  • the hydraulic medium K which flows out of the flow regulator DR, is transferred to a tank T.
  • the flow regulator DR in conjunction with the electric machine M can also transfer the hydraulic medium K from the tank T back into the lower chamber K1 of the hydraulic cylinder HZ.
  • no pressure sensor DS is necessary due to the model MD. This is indicated by crossing out.
  • FIG. 2 shows a second embodiment of the hydraulic system.
  • the lower chamber K1 of the hydraulic cylinder HZ is connected to the upper chamber K2 of the hydraulic cylinder HZ via a first flow regulator DR and via a second flow regulator DR.
  • the first flow regulator DR serves to convert the flow energy of the hydraulic medium K by means of the electric machine M into electrical energy.
  • the flow energy of the hydraulic medium K is converted by means of the electric machine M into electrical energy.
  • the electrical energy is supplied with the aid of the inverter U, in particular a power converter, an energy storage B.
  • the energy storage B the electrical energy that is released during the machining of the workpiece WS can be stored.
  • the electrical energy stored in the energy storage B is advantageously used for returning the hydraulic medium K from the upper chamber K2 back into the lower chamber K1.
  • the further flow regulator DR is used in conjunction with a (further) electric machine M.
  • a tank T which is provided for receiving or for discharging the hydraulic medium K.
  • the electrical machine M which is equipped with the encoder G, can also be controlled via a self-sufficient model MD as part of the control device SE.
  • the signal S of the encoder G is not necessary.
  • the hydraulic system is still ready for use.
  • the lack of necessity of the encoder G for controlling or regulating the electric machine M is indicated by the dashed connection.
  • the encoder G only be connected in time with the control device SE.
  • FIG. 3 shows a third embodiment of the hydraulic system.
  • the hydraulic system has an electricity sensor ES, which is assigned to the control device SE.
  • the electricity sensor ES measures the voltage U_act and / or the current I_act in the electric machine M.
  • the electricity sensor ES is advantageously assigned to the converter U, the converter U being assigned to the control device SE.
  • the electricity sensor ES provides a signal S, wherein the signal S is transmitted to the model MD.
  • the model MD calculates from the signal S at least one movement parameter, which is transmitted to the control device and / or the inverter U. Based on the motion parameter, the electric machine M is controlled or regulated without a transmitter G having to transmit a signal S to the control device SE.
  • the signal S can also be provided by another location of the control device. For example, the signal S may be provided by a higher level control of the press.
  • control device SE can also receive a signal from a further measuring means such as an encoder G, a position sensor PS or a force sensor KS, wherein the signal S is provided in particular for improving the model MD.
  • a further measuring means such as an encoder G, a position sensor PS or a force sensor KS, wherein the signal S is provided in particular for improving the model MD.
  • FIG. 4 shows a fourth embodiment of the hydraulic system.
  • the hydraulic cylinder HZ or the tool W is assigned a position sensor OS.
  • the position sensor OS determines the position of the tool W.
  • the position sensor OS provides a signal S for the control device SE.
  • the tool W has a force sensor KS.
  • the force sensor KS also provides a signal S of the control device SE available.
  • the control device SE is used to control and / or regulate the electrical machine M on the basis of the supplied signals S. At least one signal S supplied to the control device SE serves either to improve the model MD or as a starting point for the calculation of a motion parameter by the model MD.
  • the at least one signal S is converted into a pressure value D, the pressure value D being made available to the model MD and / or the control device SE.
  • the model MD calculates a movement parameter from the pressure value D, the movement parameter being transferred from the model MD to the converter U.
  • the converter U can regulate the electrical machine M on the basis of the movement parameters.
  • the invention relates to a method for controlling a movement of a tool W and a hydraulic system for controlling or regulating a tool W. Further, the invention relates to a die cushion press and a control device SE.
  • a model MD as part of a control device SE calculates a pressure value D, a process speed, a process force and / or further movement parameters, which is provided for stabilizing a control of an electrical machine M as part of the hydraulic system. With the help of the electric machine M and a flow regulator DR, the movement of the tool W can be controlled or regulated by the electric machine M. With the help of the movement parameters, the electric machine M is controlled.
  • the electric machine M By calculating the pressure value, the process speed and / or the process force through the model MD and the provision of the values to the control device SE, the electric machine M can be controlled.
  • a hitherto necessary pressure sensor DS can thus be dispensed with.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Shaping Metal By Deep-Drawing, Or The Like (AREA)
EP15197033.2A 2015-11-30 2015-11-30 Procédé de commande ou de régulation du mouvement d'un outil, système hydraulique, presse dotée de coussin de serre-flan et dispositif de commande Withdrawn EP3173163A1 (fr)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019113765A1 (de) * 2019-05-23 2020-11-26 Jungheinrich Ag Verfahren zur Steuerung eines hydraulischen Systems einer mobilen Arbeitsmaschine und mobile Arbeitsmaschine
DE102021204544A1 (de) 2021-05-05 2022-11-10 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betreiben eines hydraulischen Zylinders einer Arbeitsmaschine

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19600650C2 (de) 1996-01-10 2003-05-28 Trinova Gmbh Antrieb für einen hydraulischen doppelwirkenden Aktuator
DE102005012876A1 (de) * 2005-03-19 2006-09-21 Müller Weingarten AG Verfahren und Vorrichtung zur Steuerung und Regelung von servo-elektrischen Ziehkissen
JP2007125604A (ja) * 2005-11-07 2007-05-24 Fanuc Ltd ダイクッション機構の制御装置
JP2010253540A (ja) * 2009-04-28 2010-11-11 Ihi Corp ダイクッション装置とそのクッション力制御方法
EP1882534B1 (fr) 2005-05-16 2014-09-24 Aida Engineering, Ltd. Coussin de serre-flan pour presse
EP2789408A1 (fr) * 2013-04-11 2014-10-15 Aida Engineering, Ltd. Procédé de commande de force de coussin élastique et dispositif de coussin élastique

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19600650C2 (de) 1996-01-10 2003-05-28 Trinova Gmbh Antrieb für einen hydraulischen doppelwirkenden Aktuator
DE102005012876A1 (de) * 2005-03-19 2006-09-21 Müller Weingarten AG Verfahren und Vorrichtung zur Steuerung und Regelung von servo-elektrischen Ziehkissen
EP1882534B1 (fr) 2005-05-16 2014-09-24 Aida Engineering, Ltd. Coussin de serre-flan pour presse
JP2007125604A (ja) * 2005-11-07 2007-05-24 Fanuc Ltd ダイクッション機構の制御装置
JP2010253540A (ja) * 2009-04-28 2010-11-11 Ihi Corp ダイクッション装置とそのクッション力制御方法
EP2789408A1 (fr) * 2013-04-11 2014-10-15 Aida Engineering, Ltd. Procédé de commande de force de coussin élastique et dispositif de coussin élastique

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019113765A1 (de) * 2019-05-23 2020-11-26 Jungheinrich Ag Verfahren zur Steuerung eines hydraulischen Systems einer mobilen Arbeitsmaschine und mobile Arbeitsmaschine
DE102021204544A1 (de) 2021-05-05 2022-11-10 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betreiben eines hydraulischen Zylinders einer Arbeitsmaschine

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