EP3445976A1 - Method for operating a valve device, valve device and data carrier with a computer program - Google Patents

Method for operating a valve device, valve device and data carrier with a computer program

Info

Publication number
EP3445976A1
EP3445976A1 EP17715710.4A EP17715710A EP3445976A1 EP 3445976 A1 EP3445976 A1 EP 3445976A1 EP 17715710 A EP17715710 A EP 17715710A EP 3445976 A1 EP3445976 A1 EP 3445976A1
Authority
EP
European Patent Office
Prior art keywords
fluid
valve
compressed air
flow
pressure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17715710.4A
Other languages
German (de)
French (fr)
Other versions
EP3445976B1 (en
Inventor
Rüdiger Neumann
Matthias Doll
David Rager
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.)
Festo SE and Co KG
Original Assignee
Festo SE and Co KG
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 Festo SE and Co KG filed Critical Festo SE and Co KG
Publication of EP3445976A1 publication Critical patent/EP3445976A1/en
Application granted granted Critical
Publication of EP3445976B1 publication Critical patent/EP3445976B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • 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
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/027—Installations or systems with accumulators having accumulator charging devices
    • F15B1/033—Installations or systems with accumulators having accumulator charging devices with electrical control means
    • 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
    • F15B11/006—Hydraulic "Wheatstone bridge" circuits, i.e. with four nodes, P-A-T-B, and on-off or proportional valves in each link
    • 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
    • F15B11/046—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/06—Servomotor systems without provision for follow-up action; Circuits therefor involving features specific to the use of a compressible medium, e.g. air, steam
    • F15B11/064—Servomotor systems without provision for follow-up action; Circuits therefor involving features specific to the use of a compressible medium, e.g. air, steam with devices for saving the compressible medium
    • 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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/021—Valves for interconnecting the fluid chambers of an actuator
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2838—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT with out using position sensors, e.g. by volume flow measurement or pump 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • 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
    • F15B19/002—Calibrating
    • 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)
    • 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
    • F15B2211/63—Electronic controllers
    • 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
    • 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
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • 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
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • 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
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/885—Control specific to the type of fluid, e.g. specific to magnetorheological fluid
    • F15B2211/8855—Compressible fluids, e.g. specific to pneumatics

Definitions

  • the invention relates to a method for operating a valve device for supplying compressed air to a compressed air consumer. Furthermore, the invention relates to a valve device for operating a compressed air consumer and a data carrier with a computer program for storage in a processing device of a valve device.
  • a method for compressed air supply of a compressed air consumer to determine a position of a movable component of the compressed air consumer, such as a working piston of a pneumatic cylinder, along a path of movement using a position measuring system and provided by the Wegmesssystem
  • a processing device in which a processing of the position signal is carried out, for example, to obtain at least one information about a movement of the movable component of the compressed air consumer from an absolute amount of the position signal and / or a change in position of the position signal.
  • This information is then used to control a valve arrangement assigned to the processing device in order to influence a fluid flow in a working space or from a working space of the compressed air consumer in such a way. flow that the movable component of the compressed air consumer can be moved to a predetermined position along the path of travel and / or at a predetermined speeds along the path of movement.
  • a valve position of the valve arrangement On the basis of the position signal of the displacement measuring system, it is thus possible to control or regulate a valve position of the valve arrangement.
  • the change in the valve position as a function of the pressure conditions on the compressed air consumer and a compressed air source leads to different fluid flow rates to the compressed air consumer, which are detected by the processing device indirectly via the position signal of the position measuring system and lead to a renewed adjustment of the valve position.
  • the object of the invention is to provide a method for operating a valve device, a valve device and a data carrier with a computer program for storage in a processing device of a valve device, with which an improved provision of compressed air for a compressed air consumer is made possible.
  • This object is achieved for a method of the type mentioned in the introduction with the following steps: determination of a first fluid pressure in a first section of a fluid channel of the valve arrangement which extends between an inlet connection for a fluidically communicating connection to a fluid source or fluid sink and a valve element extending, determining a second fluid pressure in a second portion of the fluid passage of the valve assembly extending between the valve member and an output port for fluidly communicating communication with a compressed air consumer, determining a flow value for the valve element from the two fluid pressures and a Flow function, linking the flow value with a predeterminable fluid volume flow or fluid mass flow for the pressurized fluid, which is provided for the flow through the Fluidka- channel, at a conductance and determination of a required actuation energy for an actuator, which is designed for actuation of the valve element, and providing the Actuation energy to the actuating device for setting the predeterminable fluid volume flow or fluid mass flow.
  • the object of the method is based on the determined pressure values and knowing the fluidic properties of the valve element used to be able to set a fluid volume flow or fluid mass flow for the compressed air consumer to a predeterminable fluid flow and thus directly influence a movement behavior of the compressed air consumer, which is for example a compressed air drive, in particular to a pneumatic cylinder or pneumatic rotary actuator is to be able to take.
  • the fluid volume flow describes the flowing fluid volume per unit time.
  • the density of the fluid is additionally taken into account, whereby the calculation effort can be reduced.
  • the metrological effort for the control or regulation of the compressed air supply for the compressed air consumer can be kept low.
  • valve channel sections are fluidically separated from one another or fluidically communicating with each other in dependence on a functional position of the valve element.
  • the valve element in response to a provision of energy, in particular electrical or fluid energy to an actuator freely, in particular proportional to the amount of energy provided between a closed position with separate connection of the two fluid channel sections and an open position with free communicating connection of the two Fluid channel sections, can be moved.
  • a flow value is determined in a subsequent step on the basis of the fluid pressures and a flow function.
  • the flow function is, for example, a family of curves or a map in which the flow characteristics of the valve element for a fluid flowing through the valve element, depending on the pressure conditions before and after the valve element and in further dependence on a valve position of the valve element are deposited.
  • Flow value is then measured with a predeterminable fluid flow or fluid mass flow for the pressurized fluid to form a conductance.
  • This conductance is needed to determine an actuation energy for the actuator, which is designed for the actuation of the valve element. Subsequently, the determined actuation energy is provided to the actuating device for setting the predeterminable fluid volume flow or fluid mass flow.
  • valve device is operated in the manner of a flow control valve, in contrast to a flow control valve can be dispensed with a complex and costly mass flow sensor, since the total determination of the fluid volume flow or fluid mass flow through the valve device based on the pressure values, the pressure sensors be provided on or in the fluid channel.
  • the flow value is determined from the flow function, which is set in relation to a quotient of the first fluid pressure and the second fluid pressure and / or that the actuation energy is determined on the basis of the conductance and a, in particular experimentally determined, valve characteristic.
  • the pressure ratio across the valve element which can be determined as a quotient of the first fluid pressure and the second fluid pressure, is that Size, by means of which, regardless of a level of fluid pressure in the fluid channel, a precise assignment to flow characteristics of the valve element for a fluid flowing through the valve element, can be created.
  • the valve characteristic establishes a relationship between a provision of energy, in particular electrical or fluidic energy, to the valve element and a resulting functional position for the valve element. It is preferably provided to set the valve characteristic in relation to the determined conductance in order to be able to determine therefrom the energy required for achieving a desired functional position of the valve element for the actuating device.
  • two independently controllable valve arrangements are provided, the respective second sections of the respective fluid channels are connected to a common output port and their input terminals are connected to different fluid sources or Fluidsidenseken, with an optional control of one of the two valve assemblies as a function of a pressure difference between the respective input port and the common output port and the predetermined fluid volume flow or fluid mass flow takes place.
  • a compressed air consumer can be alternately connected to different fluid sources or fluid sinks, wherein always a fluid volume flow or fluid mass flow can be predetermined, which is maintained in the course of the process by appropriate control of each of the two valve assemblies.
  • the fluid volume flow or fluid mass flow can be constant for example over a predefinable period of time or follow a predetermined profile, for example, a constant movement of a trained as a compressed air actuator compressed air consumer or a predetermined variable movement of the compressed air consumer bring about.
  • the compressed air source can be designed as a local compressed air compressor or central compressed air network.
  • the compressed air sink can be, for example, a compressed air outlet in an environment of the valve arrangement, which is equipped in particular with a silencer.
  • the compressed air consumer has two fluidically separated, kinematically coupled work spaces and each of the work spaces are assigned two independently controllable valve arrangements whose respective second portions of the respective fluid channels are connected to a common output terminal and their respective input terminals with different Fluid sources or fluid sinks are connected, wherein a synchronous compressed air supply of the two working spaces with predeterminable fluid volume flows takes place by selective control of the respective valve arrangements.
  • a compressed air consumer which may be designed in particular as a pneumatic cylinder or pneumatic pivot drive, two working spaces of a movable wall, in particular a working piston, fluidly sealingly separated from each other and are variable in size due to the mobility of the wall.
  • a movement of the wall leads at the same time to an enlargement of the one working space and to a reduction of the other working space, it is also possible to speak of a kinematic coupling of the two work spaces, wherein the movable wall forms the kinematic coupling element.
  • a synchronous compressed air supply is made in both work spaces, wherein the term compressed air supply both an influx of compressed air in the working space as well as an outflow of compressed air from the working space is understood.
  • synchronous fluid flow rates are provided for both working spaces of the compressed air consumer.
  • an influx of compressed air takes place in one of the two working spaces, while in the other working space
  • a first fluid volume flow or fluid mass flow for a first working space of the compressed air consumer and a second fluid volume flow or fluid mass flow for a second working space of the compressed air consumer to achieve a motion profile for the connected compressed air consumer is specified and / or that a first pressure profile for the first working space and a second pressure profile profile for the second working space is specified.
  • the movement of the wall is influenced by means of a predetermined pressure profile, the pressures in the two work spaces resulting from the fluid volume flows provided and the movement of the wall.
  • the object of the invention is achieved for a valve device of the type mentioned, which is designed for operating a compressed air consumer, with the features of claim 6.
  • the valve device in which a fluid channel is formed between an input port for a fluidic communication with a fluid source or fluid sink and an output port for fluidly communicating communication with a compressed air consumer, and a valve element that is movable to influence a cross section of the fluid channel Fluid channel is arranged and to which an actuating device is assigned to change a functional position, and a processing device for providing actuation energy to the actuator, wherein a first portion of the fluid channel between the input port and the valve element is associated with a first pressure sensor and wherein a second portion of the fluid channel between the valve element and the outlet port, a second pressure sensor is associated, wherein the processing means for carrying out a method according to Ans pruch 1 or 2 is formed.
  • valve device In a development of the valve device, it is provided that two independently controllable valve arrangements are provided, whose respective second sections of the respective fluid channels are connected to a common output port and whose input ports are connected to different fluid sources or fluid sinks, and that the processing device for carrying out a method is designed according to claim 3.
  • valve device in a further embodiment of the valve device is provided that the processing device with two pairs of in each case two independently controllable valve arrangements are connected, wherein the second sections of the respective fluid channels are each connected in pairs to a common output port and wherein a first input port of each pair is connected to a fluid source and a second input port of each pair is connected to a fluid sink, characterized in that the processing device is designed for a synchronous compressed air supply of the two working spaces with predeterminable fluid volume flows by selective activation of the respective valve arrangements.
  • the valve arrangement is preferably designed as a proportional valve, in particular as a fluidically pilot-operated proportional valve.
  • the object of the invention is achieved by a data carrier with a computer program that is designed to be stored in a processing device of a valve device, wherein the computer program when processed in a processor of the processing device causes a method according to one of claims 1 to 5.
  • the data carrier may be a portable carrier medium, such as a CD, a DVD or a USB memory.
  • the data carrier can be designed as a drive or solid-state memory of a data server in which a multiplicity of different data are stored, which can be accessed by the processing device via remote access, in particular to a data cloud.
  • FIG. 1 shows: a schematic representation of a first embodiment of a fluidic system with a valve device and a compressed air consumer, which has two kinematically coupled Hähoff me, a schematic representation of a second Auspar tion form of a fluidic system with a valve device comprising a valve element, and a compressed air consumer, the one Working space, and a schematic representation of a third Auspar tion form of a fluidic system with a valve device comprising two valve elements, and a compressed air consumer, which has a working space.
  • a fluidic system 1 shown in FIG. 1 is designed purely by way of example for providing a linear movement and for this purpose comprises a valve device 2 and a compressed air consumer 3.
  • the valve device 2 is designed as a pneumatic full bridge circuit with a total of four valve elements designed as 2/2-way proportional valves 4, 5, 6 and 7 realized, wherein each of the valve elements 4, 5, 6 and 7 purely by way of example as a solenoid valve with a magnetic drive 8, 9, 10 and 11 is formed as an actuating device.
  • the actuating device may also be designed as a piezo drive or magnetostrictive or otherwise suitable drive.
  • Each of the valve elements 4, 5, 6 and 7 can, with appropriate loading of the associated magnetic drives 8, 9, 10 and 11 are switched with electrical energy between two functional positions, in particular a blocking position and an open position.
  • the magnetic drives 8, 9, 10 and 11 are electrically connected via control lines 15, 16, 17 and 18 to a processing device 19, which forms part of the valve device 2 and includes, by way of example, a microprocessor or microcontroller.
  • Each of the valve elements 4, 5, 6 and 7 is connected via fluid lines 20 to 27 associated with fluidic nodes 28 to 31 and forms with each paired fluid lines 20 to 27 each have a valve arrangement not designated in detail.
  • the fluid lines 20 to 23 are respectively designated as the first section of a fluid channel of the respective valve element 4, 5, 6 and 7.
  • the fluid lines 24 to 27, however, are referred to as second sections of a fluid channel of the respective valve element 4, 5, 6 and 7.
  • the fluid lines 20 and 21 open together at a fluidic node 28, the fluid lines 22 and 23 open together at the fluidic node 30, the fluid lines 24 and 25 open together at the fluidic node 29 and the fluid lines 26 and 27 open together at the fluidic node 31 from.
  • the fluidic node 28 is connected via a supply line 36 to a fluid source 32, while the fluidic node 30 is connected via an exhaust duct 37 with a fluid outlet, which is associated with a muffler 33.
  • the fluidic node 29 forms a first working port of the valve device 2 and is connected via a first connecting line 38 to a fluid port 39 of the compressed air consumer 3, while the fluidic node 31 has a second working port of the valve.
  • L healthy 2 forms and is connected via a second connecting line 40 with a fluid port 41 of the compressed air consumer 3.
  • the supply line 36, the exhaust air line 37, the first connecting line 38 and the second connecting line 40 to each be assigned a pressure sensor 42 to 45, each for detecting the respective fluid pressure in the associated line 36, 37, 38 and 40 and for providing a pressure-dependent sensor signal via a respective associated sensor line 46 to 49 to the processing device 19 is formed.
  • at least one of the pressure sensors is arranged in a housing for the valve device or outside of such a housing.
  • the compressed air consumer 3 is designed purely by way of example as a double-acting pneumatic cylinder, in which a working piston 50, also referred to as a movable wall, is received linearly movable in a cylinder recess 51 of a cylinder housing 52 and thereby separates a first variable-size working space 53 from a second variable-volume working space 54.
  • the working piston 50 is connected to a piston rod 55, which passes through the cylinder housing 52 on the front side and can be displaced together with the working piston 50 along a rectilinear movement path 56 relative to the cylinder housing 52.
  • the working piston 50 is to be moved, starting from the position shown in FIG. 1, in such a way that one end face of the working piston 50 comes into contact with an inner surface 58 of the cylinder housing 52 disposed opposite to it.
  • the predeterminable movement profile is embodied such that initially a uniform acceleration of the working piston 50 to a predefinable target speed, then a uniform movement of the working piston while maintaining the target speed and finally a deceleration of the working piston 50 to a vanishing speed.
  • valve element 4 and of the valve element 6 are provided by way of example, wherein a fluidically communicating connection between the fluid source 32, the fluidic node 29 and the second fluid port 39 is established via the valve element 4 and via the valve element 6 a fluidically communicating connection between the first fluid port 41, the fluidic node 31 and the fluid outlet with associated muffler 33 is made.
  • the processing device 19 first determines the sensor signal. nale of the pressure sensors 42 to 45 in order to calculate pressure ratios over the two valve elements 4 and 6 can. Based on these pressure ratios, a flow value for the respective valve element 4, 6 from the two fluid pressures and a flow function can be determined for each of the valve elements 4 and 6 in a subsequent step in the processing device 19. Subsequently, a linkage of the respective determined flow value with a predeterminable fluid volume flow or fluid mass flow, which is to be made available to the respective working space 53, 54, in order to achieve the desired movement of the working piston 50 according to the movement profile.
  • the result of this combination is referred to as conductance and is required to determine a required actuation energy for the respective magnetic drive 8, 10.
  • the actuation energy is determined for each of the magnetic drives 8, 10 by linking the conductance with a, in particular experimentally determined, valve characteristic. Subsequently, the actuation energy to the respective magnetic drives 8, 10 is provided and there leads to a movement of the respective unspecified valve spool of the respective valve elements 4, 6 and thus to a release of a fluidly communicating connection between the respective fluidic nodes 28 and 29 and 31 and 30.
  • a respective fluid volume flow or fluid mass flow is established between the fluid source 32 and the working space 54 and between the working space 53 and the muffler 33, which changes with a change in the pressures in the respective fluid lines 20 to 27 goes along.
  • the processing device 19 By cyclically recurring determination of the sensor signals of the pressure sensors 42 to 45 and the subsequent processing of the pressure conditions according to the above procedure, the processing device 19, the fluid volume flows for the two working chambers 53, 54 of the compressed air consumer 3 set so that the desired movement profile for the working piston 50 is maintained.
  • FIGS. 2 and 3 differ from the fluidic system 1 according to FIG. 1 in that the compressed air consumer 63 is designed purely by way of example as a single-acting pneumatic cylinder, so that only one in the respective cylinder housing 64 Working space 65 is formed.
  • the valve device 62 is designed, for example, as a proportional 3/3-way valve, in which in the illustrated switching position, which can also be referred to as rest position or neutral position, fluidically communicating connections between a fluid source 66, a working port 67 and a Fluids outlet 68 are blocked with muffler.
  • the valve spool 69 of the valve device 62 can be brought into two different functional positions with the aid of the associated magnetic drives 70, 71. In the first functional position, a fluidically communicating connection between the fluid source 66 and the working space 65 is established. In the second functional position, a fluidically communicating connection between the working space 65 and the fluid outlet 68 is produced.
  • the processing device 72 is designed in the same way as the processing device 19 according to FIG. 1 and thus makes it possible to provide a supply of sensor signals from the pressure sensors 73, 74, 75 predeterminable fluid flow in the working space 65 and from the working space 65th
  • valve devices 92 are each in the form of proportional 2/2-way valves 100,
  • valve spools 99 as valve elements and can be controlled individually by the associated processing device 102 in order to ensure an optional provision of pressurized fluid from the fluid source 66 into the working space 65 or from the working space 65 to the fluid outlet 68.
  • the processing device 102 controls the valve spools 99 in order to ensure an optional provision of pressurized fluid from the fluid source 66 into the working space 65 or from the working space 65 to the fluid outlet 68.
  • 102 is formed in the same way as the processing device 19 according to FIG. 1 and thus makes it possible to provide predeterminable fluid flows into the working space 65 and out of the working space 65 on the basis of sensor signals of the pressure sensors 103, 104, 105.

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Abstract

The invention relates to a method for operating a valve device for supplying compressed air to a compressed air consumer (3; 63), comprising the steps: determining a first fluid pressure in a first section (20, 21, 22, 23) of a fluid duct of the valve assembly, which fluid duct extends between an input connection (28, 30) for a fluidically communicating connection to a fluid source (32; 66; 96) or fluid sink (33; 68) and a valve element (4, 5, 6, 7; 69; 99), determining a second fluid pressure in a second section (24, 25, 26, 27) of the fluid duct of the valve assembly, which fluid duct extends between the valve element (4, 5, 6, 7; 69; 99) and an output connection (29, 31) for a fluidically communicating connection to a compressed air consumer (3; 63), determining a through-flow value for the valve element (4, 5, 6, 7; 69; 99) from the two fluid pressures and a through-flow function, linking the through-flow value to a predefinable fluid volume flow or fluid mass flow for the pressurised fluid, which is provided to flow through the fluid duct (20 to 27), to form a guide value and determining a required amount of activation energy for an activation device (8, 9, 10, 11; 70, 71; 100, 101) which is designed to activate the valve element (4, 5, 6, 7; 69; 99) and providing the amount of activation energy to the activation device (8, 9, 10, 11; 70, 71; 100, 101) to set the predefinable fluid volume flow or fluid volume mass.

Description

Verfahren zum Betreiben einer Ventileinrichtung,  Method for operating a valve device,
Ventileinrichtung und Datenträger mit einem Computerprogramm  Valve device and data carrier with a computer program
Die Erfindung betrifft ein Verfahren zum Betreiben einer Ventileinrichtung zur Druckluftversorgung eines Druckluftverbrauchers. Ferner betrifft die Erfindung eine Ventileinrichtung zum Betreiben eines Druckluftverbrauchers und einen Datenträger mit einem Computerprogramm zur Speicherung in einer Verarbeitungseinrichtung einer Ventileinrichtung. The invention relates to a method for operating a valve device for supplying compressed air to a compressed air consumer. Furthermore, the invention relates to a valve device for operating a compressed air consumer and a data carrier with a computer program for storage in a processing device of a valve device.
Gemäß einem der Anmelderin bekannten, druckschriftlich nicht niedergelegten Stand der Technik ist bei einem Verfahren zur Druckluftversorgung eines Druckluftverbrauchers vorgesehen, eine Position einer beweglichen Komponente des Druckluftverbrauchers, beispielsweise eines Arbeitskolbens eines Pneumatikzylinders, längs eines Bewegungswegs mit Hilfe eines Wegmesssystems zu ermitteln und ein vom Wegmesssystem bereitgestelltes Positionssignal an eine Verarbeitungseinrichtung bereitzustellen, in der eine Verarbeitung des Positionssignals erfolgt, um beispielsweise aus einem absoluten Betrag des Positionssignals und/oder einer zeitlichen Veränderung des Positionssignals wenigstens eine Information über eine Bewegung der beweglichen Komponente des Druckluftverbrauchers zu erhalten. Mit dieser Information wird anschließend eine der Verarbeitungseinrichtung zugeordnete Ventilanordnung angesteuert, um einen Fluidstrom in einen Arbeitsraum oder aus einem Arbeitsraum des Druckluftverbrauchers derart zu beein- flussen, dass die bewegliche Komponente des Druckluftverbrauchers an eine vorgegebene Position längs des Bewegungswegs und/oder mit einer vorgegebenen Geschwindigkeiten längs des Bewegungswegs bewegt werden kann. Auf Basis des Positionssignals des Wegmesssystems kann somit eine Steuerung oder Regelung einer Ventilstellung der Ventilanordnung erfolgen. Dabei führt die Veränderung der Ventilstellung in Abhängigkeit von den Druckverhältnissen am Druckluftverbraucher und einer Druckluftquelle zu unterschiedlichen Fluidvolumenströmen zum Druckluftverbraucher, die von der Verarbeitungseinrichtung mittelbar über das Positionssignal des Wegmesssystems erfasst werden und zu einer neuerlichen Anpassung der Ventilstellung führen . According to one known to the Applicant, not written down prior art is provided in a method for compressed air supply of a compressed air consumer to determine a position of a movable component of the compressed air consumer, such as a working piston of a pneumatic cylinder, along a path of movement using a position measuring system and provided by the Wegmesssystem To provide position signal to a processing device in which a processing of the position signal is carried out, for example, to obtain at least one information about a movement of the movable component of the compressed air consumer from an absolute amount of the position signal and / or a change in position of the position signal. This information is then used to control a valve arrangement assigned to the processing device in order to influence a fluid flow in a working space or from a working space of the compressed air consumer in such a way. flow that the movable component of the compressed air consumer can be moved to a predetermined position along the path of travel and / or at a predetermined speeds along the path of movement. On the basis of the position signal of the displacement measuring system, it is thus possible to control or regulate a valve position of the valve arrangement. The change in the valve position as a function of the pressure conditions on the compressed air consumer and a compressed air source leads to different fluid flow rates to the compressed air consumer, which are detected by the processing device indirectly via the position signal of the position measuring system and lead to a renewed adjustment of the valve position.
Die Aufgabe der Erfindung besteht darin, ein Verfahren zum Betreiben einer Ventileinrichtung, eine Ventileinrichtung und einen Datenträger mit einem Computerprogramm zur Speicherung in einer Verarbeitungseinrichtung einer Ventileinrichtung bereitzustellen, mit denen eine verbesserte Bereitstellung von Druckluft für einen Druckluftverbraucher ermöglicht wird. The object of the invention is to provide a method for operating a valve device, a valve device and a data carrier with a computer program for storage in a processing device of a valve device, with which an improved provision of compressed air for a compressed air consumer is made possible.
Diese Aufgabe wird für ein Verfahren der eingangs genannten Art mit den nachfolgend angeführten Schritten gelöst: Ermitteln eines ersten Fluiddrucks in einem ersten Abschnitt eines Fluidkanals der Ventilanordnung, der sich zwischen einem Ein- gangsanschluss für eine fluidisch kommunizierende Verbindung mit einer Fluidquelle oder Fluidsenke und einem Ventilelement erstreckt, Ermitteln eines zweiten Fluiddrucks in einem zweiten Abschnitt des Fluidkanals der Ventilanordnung, der sich zwischen dem Ventilelement und einem Ausgangsanschluss für eine fluidisch kommunizierende Verbindung mit einem Druck- luftverbraucher erstreckt, Ermitteln eines Durchflusswerts für das Ventilelement aus den beiden Fluiddrücken und einer Durchflussfunktion, Verknüpfen des Durchflusswerts mit einem vorgebbaren Fluidvolumenstrom oder Fluidmassenstrom für das druckbeaufschlagte Fluid, der zur Durchströmung des Fluidka- nals vorgesehen ist, zu einem Leitwert und Ermittlung einer benötigten Betätigungsenergie für eine Betätigungseinrichtung, die für eine Betätigung des Ventilelements ausgebildet ist, und Bereitstellen der Betätigungsenergie an die Betätigungseinrichtung zur Einstellung des vorgebbaren Fluidvolu- menstroms oder Fluidmassenstroms . This object is achieved for a method of the type mentioned in the introduction with the following steps: determination of a first fluid pressure in a first section of a fluid channel of the valve arrangement which extends between an inlet connection for a fluidically communicating connection to a fluid source or fluid sink and a valve element extending, determining a second fluid pressure in a second portion of the fluid passage of the valve assembly extending between the valve member and an output port for fluidly communicating communication with a compressed air consumer, determining a flow value for the valve element from the two fluid pressures and a Flow function, linking the flow value with a predeterminable fluid volume flow or fluid mass flow for the pressurized fluid, which is provided for the flow through the Fluidka- channel, at a conductance and determination of a required actuation energy for an actuator, which is designed for actuation of the valve element, and providing the Actuation energy to the actuating device for setting the predeterminable fluid volume flow or fluid mass flow.
Die Zielsetzung des Verfahrens besteht darin, anhand der ermittelten Druckwerte und in Kenntnis der fluidtechnischen Eigenschaften des verwendeten Ventilelements einen Fluidvolumenstrom oder Fluidmassenstrom für den Druckluftverbraucher auf einen vorgebbaren Fluidvolumenstrom einstellen zu können und damit unmittelbar Einfluss auf ein Bewegungsverhalten des Druckluftverbrauchers, bei dem es sich beispielsweise um einen Druckluftantrieb, insbesondere um einen Pneumatikzylinder oder pneumatischen Schwenkantrieb handelt, nehmen zu können. Der Fluidvolumenstrom beschreibt das strömende Fluidvolumen pro Zeiteinheit. Beim Fluidmassenstrom wird zusätzlich die Dichte des Fluids mit berücksichtigt, wodurch der Berechnungsaufwand reduziert werden kann. Zudem kann auch der messtechnische Aufwand für die Steuerung oder Regelung der Druckluftversorgung für den Druckluftverbraucher gering gehalten werden. Dies wird insbesondere dadurch erreicht, dass für die Durchführung des Verfahrens lediglich Drucksensoren erforderlich sind, die zur Ermittlung von Fluiddrücken in den jeweiligen Abschnitten des Fluidkanals der Ventilanordnung ausgebildet sind. Abgesehen davon, dass hierdurch auf ein typischerweise recht kostenintensives Wegmesssystem verzichtet werden kann, ergeben sich weitere Vorteile dadurch, dass die Drucksensoren in unmittelbarer Nähe des Ventilelements sowie einer Verarbeitungseinrichtung angeordnet werden können, die für eine Auswertung der Drucksignale der Drucksensoren sowie für eine Ansteuerung der Betätigungseinrichtung ausgebildet ist. Somit kann eine elektrische Verbindung zwischen den Drucksensoren und der Verarbeitungseinrichtung mit kurzen elektrischen Leitungen verwirklicht werden. The object of the method is based on the determined pressure values and knowing the fluidic properties of the valve element used to be able to set a fluid volume flow or fluid mass flow for the compressed air consumer to a predeterminable fluid flow and thus directly influence a movement behavior of the compressed air consumer, which is for example a compressed air drive, in particular to a pneumatic cylinder or pneumatic rotary actuator is to be able to take. The fluid volume flow describes the flowing fluid volume per unit time. In the case of the fluid mass flow, the density of the fluid is additionally taken into account, whereby the calculation effort can be reduced. In addition, the metrological effort for the control or regulation of the compressed air supply for the compressed air consumer can be kept low. This is achieved in particular by the fact that only pressure sensors are required for carrying out the method, which pressure sensors are designed to detect fluid pressures in the respective sections of the fluid channel of the valve arrangement. Apart from the fact that this can be dispensed with a typically quite expensive Wegmesssystem, there are further advantages in that the pressure sensors in the immediate vicinity of the valve element and a processing device can be arranged, which is designed for an evaluation of the pressure signals of the pressure sensors as well as for a control of the actuating device. Thus, an electrical connection between the pressure sensors and the processing means can be realized with short electric wires.
Für die Durchführung des Verfahrens ist vorgesehen, sowohl den Druck in dem ersten Fluidkanalabschnitt als auch in dem zweiten Fluidkanalabschnitt zu ermitteln, wobei die Ventilkanalabschnitte in Abhängigkeit von einer Funktionsstellung des Ventilelements fluidisch getrennt voneinander oder fluidisch kommunizierend miteinander verbunden sind. Vorzugsweise ist vorgesehen, dass das Ventilelement in Abhängigkeit von einer Bereitstellung von Energie, insbesondere elektrischer oder fluidischer Energie, an eine Betätigungseinrichtung frei, insbesondere proportional zur bereitgestellten Energiemenge, zwischen einer Schließstellung mit getrennter Verbindung der beiden Fluidkanalabschnitte und einer Öffnungsstellung mit freier kommunizierender Verbindung der beiden Fluidkanalabschnitte, bewegt werden kann. For carrying out the method, it is provided to determine both the pressure in the first fluid channel section and in the second fluid channel section, wherein the valve channel sections are fluidically separated from one another or fluidically communicating with each other in dependence on a functional position of the valve element. Preferably, it is provided that the valve element in response to a provision of energy, in particular electrical or fluid energy to an actuator freely, in particular proportional to the amount of energy provided between a closed position with separate connection of the two fluid channel sections and an open position with free communicating connection of the two Fluid channel sections, can be moved.
Nachdem eine Ermittlung des ersten Fluiddrucks und des zweiten Fluiddrucks erfolgt ist, wird in einem nachfolgenden Schritt anhand der Fluiddrücke und einer Durchflussfunktion ein Durchflusswert ermittelt. Bei der Durchflussfunktion handelt es sich beispielsweise um eine Kurvenschar oder ein Kennfeld, in der/in dem Strömungseigenschaften des Ventilelements für ein Fluid, das das Ventilelement durchströmt, in Abhängigkeit von den Druckbedingungen vor und nach dem Ventilelement und in weiterer Abhängigkeit von einer Ventilstellung des Ventilelements hinterlegt sind. Der ermittelte After a determination of the first fluid pressure and the second fluid pressure has taken place, a flow value is determined in a subsequent step on the basis of the fluid pressures and a flow function. The flow function is, for example, a family of curves or a map in which the flow characteristics of the valve element for a fluid flowing through the valve element, depending on the pressure conditions before and after the valve element and in further dependence on a valve position of the valve element are deposited. The determined
Durchflusswert wird anschließend mit einem vorgebbaren Fluid- volumenstrom oder Fluidmassenstrom für das druckbeaufschlagte Fluids verknüpft, um einen Leitwert zu bilden. Dieser Leitwert wird dazu benötigt, eine Betätigungsenergie für die Betätigungseinrichtung, die für die Betätigung des Ventilelements ausgebildet ist, zu ermitteln. Anschließend erfolgt die Bereitstellung der ermittelten Betätigungsenergie an die Betätigungseinrichtung zur Einstellung des vorgebbaren Fluidvo- lumenstroms oder Fluidmassenstroms . Flow value is then measured with a predeterminable fluid flow or fluid mass flow for the pressurized fluid to form a conductance. This conductance is needed to determine an actuation energy for the actuator, which is designed for the actuation of the valve element. Subsequently, the determined actuation energy is provided to the actuating device for setting the predeterminable fluid volume flow or fluid mass flow.
Vorzugsweise ist vorgesehen, das vorstehend näher beschriebenen Verfahren zyklisch zu wiederholen, um hierüber zu einer Regelung des Fluidvolumenstroms oder Fluidmassenstroms für den Druckluftverbraucher zu gelangen. Preferably, it is provided to cyclically repeat the method described in more detail above in order to arrive at a regulation of the fluid volume flow or fluid mass flow for the compressed air consumer.
Bei dieser Vorgehensweise wird die Ventileinrichtung in der Art eines Durchflussregelventils betrieben, wobei im Unterschied zu einem Durchflussregelventil auf einen aufwändigen und kostenintensiven Massenstromsensor verzichtet werden kann, da die gesamte Ermittlung des Fluidvolumenstroms oder Fluidmassenstroms durch die Ventileinrichtung auf Basis der Druckwerte erfolgt, die von den Drucksensoren am oder im Flu- idkanal bereitgestellt werden. In this procedure, the valve device is operated in the manner of a flow control valve, in contrast to a flow control valve can be dispensed with a complex and costly mass flow sensor, since the total determination of the fluid volume flow or fluid mass flow through the valve device based on the pressure values, the pressure sensors be provided on or in the fluid channel.
Vorteilhafthafte Weiterbildungen der Erfindung sind Gegenstand der Unteransprüche. Vorteilhafthafte developments of the invention are the subject of the dependent claims.
Zweckmäßig ist es, wenn der Durchflusswert aus der Durchflussfunktion ermittelt wird, die in Beziehung zu einem Quotienten des ersten Fluiddrucks und des zweiten Fluiddrucks gesetzt wird und/oder dass die Betätigungsenergie anhand des Leitwerts und einer, insbesondere experimentell ermittelten, Ventilkennlinie ermittelt wird. Das Druckverhältnis über dem Ventilelement, das als Quotient des ersten Fluiddrucks und des zweiten Fluiddrucks ermittelt werden kann, ist diejenige Größe, anhand derer unabhängig von einem Niveau des Fluid- drucks im Fluidkanal eine präzise Zuordnung zu Strömungseigenschaften des Ventilelements für ein Fluid, das das Ventilelement durchströmt, geschaffen werden kann. Die Ventilkennlinie stellt einen Zusammenhang zwischen einer Bereitstellung von Energie, insbesondere elektrischer oder fluidischer Energie, an das Ventilelement und einer daraus resultierenden Funktionsstellung für das Ventilelement her. Bevorzugt ist vorgesehen, die Ventilkennlinie in Beziehung zu dem ermittelten Leitwert zu setzen, um daraus die zur Erzielung einer angestrebten Funktionsstellung des Ventilelements notwendige Energie für die Betätigungseinrichtung ermitteln zu können. It is expedient if the flow value is determined from the flow function, which is set in relation to a quotient of the first fluid pressure and the second fluid pressure and / or that the actuation energy is determined on the basis of the conductance and a, in particular experimentally determined, valve characteristic. The pressure ratio across the valve element, which can be determined as a quotient of the first fluid pressure and the second fluid pressure, is that Size, by means of which, regardless of a level of fluid pressure in the fluid channel, a precise assignment to flow characteristics of the valve element for a fluid flowing through the valve element, can be created. The valve characteristic establishes a relationship between a provision of energy, in particular electrical or fluidic energy, to the valve element and a resulting functional position for the valve element. It is preferably provided to set the valve characteristic in relation to the determined conductance in order to be able to determine therefrom the energy required for achieving a desired functional position of the valve element for the actuating device.
Bevorzugt ist vorgesehen, dass zwei unabhängig voneinander ansteuerbare Ventilanordnungen vorgesehen sind, deren jeweilige zweite Abschnitte der jeweiligen Fluidkanäle zu einem gemeinsamen Ausgangsanschluss verbunden sind und deren Eingangsanschlüsse mit unterschiedlichen Fluidquellen oder Flu- idsenken verbunden sind, wobei eine wahlweise Ansteuerung einer der beiden Ventilanordnungen in Abhängigkeit von einer Druckdifferenz zwischen dem jeweiligen Eingangsanschluss und dem gemeinsamen Ausgangsanschluss und dem vorgebbaren Fluid- volumenstrom oder Fluidmassenstrom erfolgt. Mit einer derartigen Vorgehensweise kann ein Druckluftverbraucher wechselweise mit unterschiedlichen Fluidquellen oder Fluidsenken verbunden werden, wobei stets ein Fluidvolumenstrom oder Fluidmassenstrom vorgegebenen werden kann, der im Zuge der Verfahrensdurchführung durch geeignete Ansteuerung jeweils einer der beiden Ventilanordnungen beibehalten wird. Dabei kann der Fluidvolumenstrom oder Fluidmassenstrom beispielhaft über eine vorgebbare Zeitdauer konstant sein oder einem vorgegebenen Profil folgen, um beispielhaft eine konstante Bewegung eines als Druckluftaktor ausgebildeten Druckluftverbrauchers oder eine vorgegebene variable Bewegung des Druckluf verbrauchers herbeizuführen. Beispielhaft kann die Druckluftquelle als lokaler Druckluftkompressor oder zentrales Druckluftnetz ausgebildet sein. Bei der Druckluftsenke kann es sich beispielsweise um einen Druckluftauslass in eine Umgebung der Ventilanordnung handeln, der insbesondere mit einem Schalldämpfer ausgerüstet ist. It is preferably provided that two independently controllable valve arrangements are provided, the respective second sections of the respective fluid channels are connected to a common output port and their input terminals are connected to different fluid sources or Fluidsidenseken, with an optional control of one of the two valve assemblies as a function of a pressure difference between the respective input port and the common output port and the predetermined fluid volume flow or fluid mass flow takes place. With such a procedure, a compressed air consumer can be alternately connected to different fluid sources or fluid sinks, wherein always a fluid volume flow or fluid mass flow can be predetermined, which is maintained in the course of the process by appropriate control of each of the two valve assemblies. In this case, the fluid volume flow or fluid mass flow can be constant for example over a predefinable period of time or follow a predetermined profile, for example, a constant movement of a trained as a compressed air actuator compressed air consumer or a predetermined variable movement of the compressed air consumer bring about. By way of example, the compressed air source can be designed as a local compressed air compressor or central compressed air network. The compressed air sink can be, for example, a compressed air outlet in an environment of the valve arrangement, which is equipped in particular with a silencer.
Bei einer Weiterbildung der Erfindung ist vorgesehen, dass der Druckluftverbraucher zwei fluidisch getrennte, kinematisch gekoppelte Arbeitsräume aufweist und jedem der Arbeitsräume zwei unabhängig voneinander ansteuerbare Ventilanordnungen zugeordnet sind, deren jeweilige zweite Abschnitte der jeweiligen Fluidkanäle zu einem gemeinsamen Ausgangsanschluss verbunden sind und deren jeweilige Eingangsanschlüsse mit unterschiedlichen Fluidquellen oder Fluidsenken verbunden sind, wobei eine synchrone Druckluftversorgung der beiden Arbeits - räume mit vorgebbaren Fluidvolumenströmen durch wahlweise An- steuerung der jeweiligen Ventilanordnungen erfolgt. Bei einem derartigen Druckluftverbraucher, der insbesondere als Pneumatikzylinder oder pneumatischer Schwenkantrieb ausgebildet sein kann, werden zwei Arbeitsräume von einer beweglichen Wand, insbesondere einem Arbeitskolben, fluidisch abdichtend voneinander getrennt und sind aufgrund der Beweglichkeit der Wand größenvariabel . Da eine Bewegung der Wand zeitgleich zu einer Vergrößerung des einen Arbeitsraums und zu einer Verkleinerung des anderen Arbeitsraums führt, kann auch von einer kinematischen Kopplung der beiden Arbeitsräume gesprochen werden, wobei die bewegliche Wand das kinematische Koppelglied bildet. Für eine Vielzahl von Bewegungsaufgaben ist es vorteilhaft, wenn in beiden Arbeitsräumen eine synchrone Druckluftversorgung vorgenommen wird, wobei unter dem Begriff der Druckluftversorgung sowohl ein Zustrom von Druckluft in den Arbeitsraum als auch ein Abstrom von Druckluft aus dem Arbeitsraum verstanden wird. Bei der Durchführung des erfindungsgemäßen Verfahrens sind synchrone Fluidvolumenstrome für beide Arbeitsräume des Druckluftverbrauchers vorgesehen. Beispielhaft findet in einem der beiden Arbeitsräume ein Zustrom von Druckluft statt, während im anderen Arbeitsraum ein In a further development of the invention, it is provided that the compressed air consumer has two fluidically separated, kinematically coupled work spaces and each of the work spaces are assigned two independently controllable valve arrangements whose respective second portions of the respective fluid channels are connected to a common output terminal and their respective input terminals with different Fluid sources or fluid sinks are connected, wherein a synchronous compressed air supply of the two working spaces with predeterminable fluid volume flows takes place by selective control of the respective valve arrangements. In such a compressed air consumer, which may be designed in particular as a pneumatic cylinder or pneumatic pivot drive, two working spaces of a movable wall, in particular a working piston, fluidly sealingly separated from each other and are variable in size due to the mobility of the wall. Since a movement of the wall leads at the same time to an enlargement of the one working space and to a reduction of the other working space, it is also possible to speak of a kinematic coupling of the two work spaces, wherein the movable wall forms the kinematic coupling element. For a variety of movement tasks, it is advantageous if a synchronous compressed air supply is made in both work spaces, wherein the term compressed air supply both an influx of compressed air in the working space as well as an outflow of compressed air from the working space is understood. In carrying out the method according to the invention synchronous fluid flow rates are provided for both working spaces of the compressed air consumer. By way of example, an influx of compressed air takes place in one of the two working spaces, while in the other working space
Abstrom von Druckluft vorgesehen ist. Hierdurch wird die bewegliche Wand zwischen den beiden Arbeitsräumen mit einer vorgebbaren Bewegungsgeschwindigkeit bewegt . Downstream of compressed air is provided. As a result, the movable wall between the two working spaces is moved at a predeterminable speed of movement.
In vorteilhafter Ausgestaltung der Erfindung ist vorgesehen, dass ein erster Fluidvolumenstrom oder Fluidmassenstrom für einen ersten Arbeitsraum des Druckluftverbrauchers und ein zweiter Fluidvolumenstrom oder Fluidmassenstrom für einen zweiten Arbeitsraum des Druckluftverbrauchers zur Erzielung eines Bewegungsprofils für den angeschlossenen Druckluftverbraucher vorgegeben wird und/oder dass ein erstes Druckverlaufsprofil für den ersten Arbeitsraum und ein zweites Druckverlaufsprofil für den zweiten Arbeitsraum vorgegeben wird. Durch Vorgabe der beiden Fluidvolumenstrome für die beiden Arbeitsräume des Druckluftverbrauchers können präzise Vorgaben für die Bewegung der Wand zwischen den beiden Arbeitsräumen gemacht werden. Dies gilt insbesondere dann, wenn während der Bewegung der Wand stets ein konstantes Verhältnis zwischen dem ersten Fluidvolumenstrom oder Fluidmassenstrom und dem zweiten Fluidvolumenstrom oder Fluidmassenstrom vorliegt. Besonders vorteilhaft ist es, wenn die Bewegung der Wand anhand eines vorgegebenen Druckverlaufsprofils beeinflusst wird, wobei sich die Drücke in den beiden Arbeitsräumen aus den bereitgestellten Fluidvolumenstromen und der Bewegung der Wand ergeben. Die Aufgabe der Erfindung wird für eine Ventileinrichtung der eingangs genannten Art, die zum Betreiben eines Druckluftverbrauchers ausgebildet ist, mit den Merkmalen des Anspruchs 6 gelöst. Hierbei umfasst die Ventileinrichtung, bei der ein Fluidkanal zwischen einem Eingangsanschluss für eine fluidisch kommunizierende Verbindung mit einer Fluidquelle oder Fluidsenke und einem Ausganganschluss für eine fluidisch kommunizierende Verbindung mit einem Druckluftverbraucher ausgebildet ist, sowie ein Ventilelement, das für eine Beeinflussung eines Querschnitts des Fluidkanals beweglich im Fluidkanal angeordnet ist und dem eine Betätigungseinrichtung zur Veränderung einer Funktionsposition zugeordnet ist, und eine Verarbeitungseinrichtung für eine Bereitstellung von Betätigungsenergie an die Betätigungseinrichtung, wobei einem ersten Abschnitt des Fluidkanals zwischen dem Eingangsanschluss und dem Ventilelement ein erster Drucksensor zugeordnet ist und wobei einem zweiten Abschnitt des Fluidkanals zwischen dem Ventilelement und dem Ausganganschluss ein zweiter Drucksensor zugeordnet ist, wobei die Verarbeitungseinrichtung für eine Durchführung eines Verfahrens nach Anspruch 1 oder 2 ausgebildet ist. In an advantageous embodiment of the invention, it is provided that a first fluid volume flow or fluid mass flow for a first working space of the compressed air consumer and a second fluid volume flow or fluid mass flow for a second working space of the compressed air consumer to achieve a motion profile for the connected compressed air consumer is specified and / or that a first pressure profile for the first working space and a second pressure profile profile for the second working space is specified. By specifying the two fluid flow rates for the two working spaces of the compressed air consumer precise specifications for the movement of the wall between the two working spaces can be made. This is especially true when there is always a constant ratio between the first fluid volume flow or fluid mass flow and the second fluid volume flow or fluid mass flow during the movement of the wall. It is particularly advantageous if the movement of the wall is influenced by means of a predetermined pressure profile, the pressures in the two work spaces resulting from the fluid volume flows provided and the movement of the wall. The object of the invention is achieved for a valve device of the type mentioned, which is designed for operating a compressed air consumer, with the features of claim 6. In this case, the valve device, in which a fluid channel is formed between an input port for a fluidic communication with a fluid source or fluid sink and an output port for fluidly communicating communication with a compressed air consumer, and a valve element that is movable to influence a cross section of the fluid channel Fluid channel is arranged and to which an actuating device is assigned to change a functional position, and a processing device for providing actuation energy to the actuator, wherein a first portion of the fluid channel between the input port and the valve element is associated with a first pressure sensor and wherein a second portion of the fluid channel between the valve element and the outlet port, a second pressure sensor is associated, wherein the processing means for carrying out a method according to Ans pruch 1 or 2 is formed.
Bei einer Weiterbildung der Ventileinrichtung ist vorgesehen, dass zwei unabhängig voneinander ansteuerbare Ventilanordnungen vorgesehen sind, deren jeweilige zweite Abschnitte der jeweiligen Fluidkanäle zu einem gemeinsamen Ausgangsanschluss verbunden sind und deren Eingangsanschlüsse mit unterschiedlichen Fluidquellen oder Fluidsenken verbunden sind, und dass die Verarbeitungseinrichtung für eine Durchführung eines Verfahrens nach Anspruch 3 ausgebildet ist. In a development of the valve device, it is provided that two independently controllable valve arrangements are provided, whose respective second sections of the respective fluid channels are connected to a common output port and whose input ports are connected to different fluid sources or fluid sinks, and that the processing device for carrying out a method is designed according to claim 3.
In weiterer Ausgestaltung der Ventileinrichtung ist vorgesehen, dass die Verarbeitungseinrichtung mit zwei Paaren von jeweils zwei unabhängig voneinander ansteuerbaren Ventilanordnungen verbunden ist, wobei die zweiten Abschnitte der jeweiligen Fluidkanäle jeweils paarweise zu einem gemeinsamen Ausgangsanschluss verbunden sind und wobei ein erster Ein- gangsanschluss jedes Paars mit einer Fluidquelle und ein zweiter Eingangsanschluss jedes Paars mit einer Fluidsenke verbunden ist, dadurch gekennzeichnet, dass die Verarbeitungseinrichtung für eine synchrone Druckluftversorgung der beiden Arbeitsräume mit vorgebbaren Fluidvolumenstromen durch wahlweise Ansteuerung der jeweiligen Ventilanordnungen ausgebildet ist. In a further embodiment of the valve device is provided that the processing device with two pairs of in each case two independently controllable valve arrangements are connected, wherein the second sections of the respective fluid channels are each connected in pairs to a common output port and wherein a first input port of each pair is connected to a fluid source and a second input port of each pair is connected to a fluid sink, characterized in that the processing device is designed for a synchronous compressed air supply of the two working spaces with predeterminable fluid volume flows by selective activation of the respective valve arrangements.
Vorzugsweise ist die Ventilanordnung als Proportionalventil, insbesondere als fluidisch vorgesteuertes Proportionalventil, ausgebildet . The valve arrangement is preferably designed as a proportional valve, in particular as a fluidically pilot-operated proportional valve.
Die Aufgabe der Erfindung wird durch einen Datenträger mit einem Computerprogramm, das zur Speicherung in einer Verarbeitungseinrichtung einer Ventileinrichtung ausgebildet ist, gelöst, wobei das Computerprogramm bei Verarbeitung in einem Prozessor der Verarbeitungseinrichtung ein Verfahren nach einem der Ansprüche 1 bis 5 bewirkt. Dabei kann es sich bei dem Datenträger portables Trägermedium wie beispielsweise eine CD, eine DVD oder einen USB-Speicher handeln. Alternativ kann der Datenträger als Laufwerk oder Festkörperspeicher eines Datenservers ausgebildet sein, in dem eine Vielzahl von unterschiedlichen Daten abgespeichert sind, auf die über einen Fernzugriff von der Verarbeitungseinrichtung zugegriffen werden kann, insbesondere auf eine Datenwolke/Cloud . The object of the invention is achieved by a data carrier with a computer program that is designed to be stored in a processing device of a valve device, wherein the computer program when processed in a processor of the processing device causes a method according to one of claims 1 to 5. In this case, the data carrier may be a portable carrier medium, such as a CD, a DVD or a USB memory. Alternatively, the data carrier can be designed as a drive or solid-state memory of a data server in which a multiplicity of different data are stored, which can be accessed by the processing device via remote access, in particular to a data cloud.
Vorteilhafte Ausführungsformen der Erfindung sind in der Zeichnung dargestellt. Hierbei zeigt: eine schematische Darstellung einer ersten Ausführungsform eines fluidischen Systems mit einer Ventileinrichtung und einem Druckluftverbraucher, der zwei kinematisch miteinander gekoppelte Arbeitsräu me aufweist, eine schematische Darstellung einer zweiten Ausfüh rungsform eines fluidischen Systems mit einer Ventileinrichtung, die ein Ventilelement umfasst, und einem Druckluftverbraucher, der einen Arbeitsraum aufweist, und eine schematische Darstellung einer dritten Ausfüh rungsform eines fluidischen Systems mit einer Ventileinrichtung, die zwei Ventilelemente umfasst, und einem Druckluftverbraucher, der einen Arbeits - räum aufweist. Advantageous embodiments of the invention are illustrated in the drawing. Hereby shows: a schematic representation of a first embodiment of a fluidic system with a valve device and a compressed air consumer, which has two kinematically coupled Arbeitsräu me, a schematic representation of a second Ausfüh tion form of a fluidic system with a valve device comprising a valve element, and a compressed air consumer, the one Working space, and a schematic representation of a third Ausfüh tion form of a fluidic system with a valve device comprising two valve elements, and a compressed air consumer, which has a working space.
Ein in der Figur 1 gezeigtes fluidisches System 1 ist rein exemplarisch zur Bereitstellung einer Linearbewegung ausgebildet und umfasst hierzu eine Ventileinrichtung 2 und einen Druckluftverbraucher 3. Beispielhaft ist die Ventileinrichtung 2 als pneumatische Vollbrückenschaltung mit insgesamt vier jeweils als 2/2 -Wege-Proportionalventile ausgebildeten Ventilelementen 4, 5, 6 und 7 verwirklicht, wobei jedes der Ventilelemente 4, 5, 6 und 7 rein exemplarisch als Magnetventil mit einem Magnetantrieb 8, 9, 10 und 11 als Betätigungseinrichtung ausgebildet ist. Bei einer alternativen, nicht näher dargestellten Ausführungsform kann die Betätigungseinrichtung auch als Piezoantrieb oder magnetostriktiver oder anderweitig geeigneter Antrieb ausgebildet sein. A fluidic system 1 shown in FIG. 1 is designed purely by way of example for providing a linear movement and for this purpose comprises a valve device 2 and a compressed air consumer 3. By way of example, the valve device 2 is designed as a pneumatic full bridge circuit with a total of four valve elements designed as 2/2-way proportional valves 4, 5, 6 and 7 realized, wherein each of the valve elements 4, 5, 6 and 7 purely by way of example as a solenoid valve with a magnetic drive 8, 9, 10 and 11 is formed as an actuating device. In an alternative, unspecified embodiment, the actuating device may also be designed as a piezo drive or magnetostrictive or otherwise suitable drive.
Jedes der Ventilelemente 4, 5, 6 und 7 kann bei geeigneter Beaufschlagung der zugeordneten Magnetantriebe 8, 9, 10 und 11 mit elektrischer Energie zwischen zwei Funktionsstellungen, insbesondere einer Sperrstellung und einer Öffnungsstellung, umgeschaltet werden. Hierzu sind die Magnetantriebe 8, 9, 10 und 11 über Steuerleitungen 15, 16, 17 und 18 mit einer Verarbeitungseinrichtung 19 elektrisch verbunden, die einen Bestandteil der Ventileinrichtung 2 bildet und beispielhaft einen Mikroprozessor oder Mikrocontroller umfasst. Each of the valve elements 4, 5, 6 and 7 can, with appropriate loading of the associated magnetic drives 8, 9, 10 and 11 are switched with electrical energy between two functional positions, in particular a blocking position and an open position. For this purpose, the magnetic drives 8, 9, 10 and 11 are electrically connected via control lines 15, 16, 17 and 18 to a processing device 19, which forms part of the valve device 2 and includes, by way of example, a microprocessor or microcontroller.
Jedes der Ventilelemente 4, 5, 6 und 7 ist über zugeordnete Fluidleitungen 20 bis 27 mit fluidischen Knotenpunkten 28 bis 31 verbunden und bildet mit den jeweils paarweise zugeordneten Fluidleitungen 20 bis 27 jeweils eine nicht näher bezeichnete Ventilanordnung. Dabei werden die Fluidleitungen 20 bis 23 jeweils als erster Abschnitt eines Fluidkanals des jeweiligen Ventilelements 4, 5, 6 und 7 bezeichnet. Die Fluidleitungen 24 bis 27 werden hingegen als zweite Abschnitte eines Fluidkanals des jeweiligen Ventilelements 4, 5, 6 und 7 bezeichnet. Dabei münden die Fluidleitungen 20 und 21 gemeinsam an einem fluidischen Knotenpunkt 28 aus, die Fluidleitungen 22 und 23 münden gemeinsam an dem fluidischen Knotenpunkt 30 aus, die Fluidleitungen 24 und 25 münden gemeinsam an dem fluidischen Knotenpunkt 29 aus und die Fluidleitungen 26 und 27 münden gemeinsam an dem fluidischen Knotenpunkt 31 aus. Each of the valve elements 4, 5, 6 and 7 is connected via fluid lines 20 to 27 associated with fluidic nodes 28 to 31 and forms with each paired fluid lines 20 to 27 each have a valve arrangement not designated in detail. In this case, the fluid lines 20 to 23 are respectively designated as the first section of a fluid channel of the respective valve element 4, 5, 6 and 7. The fluid lines 24 to 27, however, are referred to as second sections of a fluid channel of the respective valve element 4, 5, 6 and 7. In this case, the fluid lines 20 and 21 open together at a fluidic node 28, the fluid lines 22 and 23 open together at the fluidic node 30, the fluid lines 24 and 25 open together at the fluidic node 29 and the fluid lines 26 and 27 open together at the fluidic node 31 from.
Rein exemplarisch ist der fluidische Knotenpunkt 28 über eine Versorgungsleitung 36 mit einer Fluidquelle 32 verbunden, während der fluidische Knotenpunkt 30 über eine Abluftleitung 37 mit einem Fluidauslass verbunden ist, dem ein Schalldämpfer 33 zugeordnet ist. Der fluidische Knotenpunkt 29 bildet einen ersten Arbeitsanschluss der Ventileinrichtung 2 und ist über eine erste Anschlussleitung 38 mit einem Fluidanschluss 39 des Druckluftverbrauchers 3 verbunden, während der fluidische Knotenpunkt 31 einen zweiten Arbeitsanschluss der Venti- leinrichtung 2 bildet und über eine zweite Anschlussleitung 40 mit einem Fluidanschluss 41 des Druckluftverbrauchers 3 verbunden ist. Purely by way of example, the fluidic node 28 is connected via a supply line 36 to a fluid source 32, while the fluidic node 30 is connected via an exhaust duct 37 with a fluid outlet, which is associated with a muffler 33. The fluidic node 29 forms a first working port of the valve device 2 and is connected via a first connecting line 38 to a fluid port 39 of the compressed air consumer 3, while the fluidic node 31 has a second working port of the valve. Leinrichtung 2 forms and is connected via a second connecting line 40 with a fluid port 41 of the compressed air consumer 3.
Rein exemplarisch ist vorgesehen, dass der Versorgungsleitung 36, der Abluftleitung 37, der ersten Anschlussleitung 38 sowie der zweiten Anschlussleitung 40 jeweils ein Drucksensor 42 bis 45 zugeordnet ist, der jeweils für eine Erfassung des jeweiligen Fluiddrucks in der zugeordneten Leitung 36, 37, 38 und 40 sowie für eine Bereitstellung eines druckabhängigen Sensorsignals über eine jeweils zugeordnete Sensorleitung 46 bis 49 an die Verarbeitungseinrichtung 19 ausgebildet ist. Bei einer nicht näher dargestellten Ausführungsform ist wenigstens einer der Drucksensoren in einem Gehäuse für die Ventileinrichtung oder außerhalb eines solchen Gehäuses angeordnet . By way of example only, provision is made for the supply line 36, the exhaust air line 37, the first connecting line 38 and the second connecting line 40 to each be assigned a pressure sensor 42 to 45, each for detecting the respective fluid pressure in the associated line 36, 37, 38 and 40 and for providing a pressure-dependent sensor signal via a respective associated sensor line 46 to 49 to the processing device 19 is formed. In one embodiment, not shown, at least one of the pressure sensors is arranged in a housing for the valve device or outside of such a housing.
Der Druckluftverbraucher 3 ist rein exemplarisch als doppeltwirkender Pneumatikzylinder ausgebildet, bei dem ein auch als bewegliche Wand bezeichneter Arbeitskolben 50 linearbeweglich in einer Zylinderausnehmung 51 eines Zylindergehäuses 52 aufgenommen ist und dadurch einen ersten größenvariablen Arbeitsraum 53 von einem zweiten größenvariable Arbeitsraum 54 trennt. Beispielhaft ist der Arbeitskolben 50 mit einer Kolbenstange 55 verbunden, die das Zylindergehäuse 52 stirnseitig durchsetzt und zusammen mit dem Arbeitskolben 50 längs eines geradlinigen Bewegungswegs 56 relativ zum Zylindergehäuse 52 verschoben werden kann. The compressed air consumer 3 is designed purely by way of example as a double-acting pneumatic cylinder, in which a working piston 50, also referred to as a movable wall, is received linearly movable in a cylinder recess 51 of a cylinder housing 52 and thereby separates a first variable-size working space 53 from a second variable-volume working space 54. By way of example, the working piston 50 is connected to a piston rod 55, which passes through the cylinder housing 52 on the front side and can be displaced together with the working piston 50 along a rectilinear movement path 56 relative to the cylinder housing 52.
Rein exemplarisch soll nachstehend beschrieben werden, welche Schritte in dem fluidischen System 1 durchzuführen sind, um eine Bewegung des Arbeitskolbens 50 mit der gekoppelten Kolbenstange 55 gemäß einem vorgebbaren Bewegungsprofil zu be- wirken. Beispielhaft soll der Arbeitskolben 50 ausgehend von der Position gemäß der Darstellung der Figur 1 so bewegt werden, dass eine Stirnseite des Arbeitskolbens 50 in Anlage zu einer gegenüberliegend angeordneten Innenoberfläche 58 des Zylindergehäuses 52 kommt. Beispielhaft ist das vorgebbare Bewegungsprofil derart ausgebildet, das zunächst eine gleichförmige Beschleunigung des Arbeitskolbens 50 bis auf eine vorgebbare Zielgeschwindigkeit, anschließend eine gleichförmige Bewegung des Arbeitskolbens unter Beibehaltung der Zielgeschwindigkeit und zum Schluss eine Abbremsung des Arbeits - kolbens 50 bis auf eine verschwindende Geschwindigkeit erfolgt . Purely by way of example, it will be described below which steps are to be performed in the fluidic system 1 in order to determine a movement of the working piston 50 with the coupled piston rod 55 in accordance with a predeterminable movement profile. Act. By way of example, the working piston 50 is to be moved, starting from the position shown in FIG. 1, in such a way that one end face of the working piston 50 comes into contact with an inner surface 58 of the cylinder housing 52 disposed opposite to it. By way of example, the predeterminable movement profile is embodied such that initially a uniform acceleration of the working piston 50 to a predefinable target speed, then a uniform movement of the working piston while maintaining the target speed and finally a deceleration of the working piston 50 to a vanishing speed.
Für die geplante Bewegung des Arbeitskolbens 50 ist eine Zufuhr von druckbeaufschlagtem Fluid an den Arbeitsraum 54 erforderlich, während eine Abfuhr von Fluid aus dem Arbeitsraum 53 vorgesehen werden muss. Um das gewünschte Bewegungsprofil erzielen zu können, ist die Bereitstellung von vorgebbaren Fluidvolumenströmen zweckmäßig, da hierüber die Bewegungsgeschwindigkeit für den Arbeitskolben präzise eingestellt werden kann. Dementsprechend ist beispielhaft eine Ansteuerung des Ventilelements 4 sowie des Ventilelements 6 vorzusehen, wobei über das Ventilelement 4 eine fluidisch kommunizierende Verbindung zwischen der Fluidquelle 32, dem fluidischen Knotenpunkt 29 und dem zweiten Fluidanschluss 39 hergestellt wird und wobei über das Ventilelement 6 eine fluidisch kommunizierende Verbindung zwischen dem ersten Fluidanschluss 41, dem fluidischen Knotenpunkt 31 und dem Fluidauslass mit zugeordneten Schalldämpfer 33 hergestellt wird. For the planned movement of the working piston 50, a supply of pressurized fluid to the working space 54 is required, while a removal of fluid from the working space 53 must be provided. To be able to achieve the desired movement profile, the provision of predeterminable fluid flow rates is expedient, as this allows the movement speed for the working piston to be set precisely. Accordingly, an activation of the valve element 4 and of the valve element 6 is provided by way of example, wherein a fluidically communicating connection between the fluid source 32, the fluidic node 29 and the second fluid port 39 is established via the valve element 4 and via the valve element 6 a fluidically communicating connection between the first fluid port 41, the fluidic node 31 and the fluid outlet with associated muffler 33 is made.
Um die Bewegung des Arbeitskolbens 50 gemäß dem vorstehend geschilderten Bewegungsprofil durchführen zu können, ermittelt die Verarbeitungseinrichtung 19 zunächst die Sensorsig- nale der Drucksensoren 42 bis 45, um Druckverhältnisse über den beiden Ventilelementen 4 und 6 berechnen zu können. Anhand dieser Druckverhältnisse kann in einem nachfolgenden Schritt in der Verarbeitungseinrichtung 19 für jedes der Ventilelemente 4 und 6 ein Durchflusswert für das jeweilige Ventilelement 4, 6 aus den beiden Fluiddrücken und einer Durchflussfunktion ermittelt werden. Anschließend erfolgt eine Verknüpfung des jeweils ermittelten Durchflusswerts mit einem vorgebbaren Fluidvolumenstrom oder Fluidmassenstrom, der dem jeweiligen Arbeitsraum 53, 54 zur Verfügung gestellt werden soll, um die gewünschte Bewegung des Arbeitskolbens 50 gemäß dem Bewegungsprofil zu erzielen. Das Ergebnis dieser Verknüpfung wird als Leitwert bezeichnet und wird zur Ermittlung einer benötigten Betätigungsenergie für den jeweiligen Magnetantrieb 8, 10 benötigt. Die Betätigungsenergie wird für jeden der Magnetantriebe 8, 10 durch Verknüpfung des Leitwerts mit einer, insbesondere experimentell ermittelten, Ventilkennlinie ermittelt. Anschließend wird die Betätigungsenergie an die jeweiligen Magnetantriebe 8, 10 bereitgestellt und führt dort zu einer Bewegung der jeweiligen, nicht näher bezeichneten Ventilschieber der jeweiligen Ventilelemente 4, 6 und somit zur einer Freigabe einer fluidisch kommunizierenden Verbindung zwischen den jeweiligen fluidischen Knotenpunkten 28 und 29 bzw. 31 und 30. In order to be able to carry out the movement of the working piston 50 in accordance with the above-described movement profile, the processing device 19 first determines the sensor signal. nale of the pressure sensors 42 to 45 in order to calculate pressure ratios over the two valve elements 4 and 6 can. Based on these pressure ratios, a flow value for the respective valve element 4, 6 from the two fluid pressures and a flow function can be determined for each of the valve elements 4 and 6 in a subsequent step in the processing device 19. Subsequently, a linkage of the respective determined flow value with a predeterminable fluid volume flow or fluid mass flow, which is to be made available to the respective working space 53, 54, in order to achieve the desired movement of the working piston 50 according to the movement profile. The result of this combination is referred to as conductance and is required to determine a required actuation energy for the respective magnetic drive 8, 10. The actuation energy is determined for each of the magnetic drives 8, 10 by linking the conductance with a, in particular experimentally determined, valve characteristic. Subsequently, the actuation energy to the respective magnetic drives 8, 10 is provided and there leads to a movement of the respective unspecified valve spool of the respective valve elements 4, 6 and thus to a release of a fluidly communicating connection between the respective fluidic nodes 28 and 29 and 31 and 30.
Durch die Ansteuerung der jeweiligen Ventilelemente der 4, 6 stellt sich jeweils ein Fluidvolumenstrom oder Fluidmassenstrom zwischen der Fluidquelle 32 und dem Arbeitsraum 54 sowie zwischen dem Arbeitsraum 53 und dem Schalldämpfer 33 ein, der mit einer Änderung der Drücke in den jeweiligen Fluidlei- tungen 20 bis 27 einhergeht. Durch zyklisch wiederkehrende Bestimmung der Sensorsignale der Drucksensoren 42 bis 45 sowie die nachfolgende Verarbeitung der Druckverhältnisse gemäß der vorstehenden Vorgehensweise kann die Verarbeitungseinrichtung 19 die Fluidvolumenströme für die beiden Arbeitsräume 53, 54 des Druckluftverbrauchers 3 so einstellen, dass das gewünschte Bewegungsprofil für den Arbeitskolben 50 eingehalten wird. By controlling the respective valve elements of FIGS. 4, 6, a respective fluid volume flow or fluid mass flow is established between the fluid source 32 and the working space 54 and between the working space 53 and the muffler 33, which changes with a change in the pressures in the respective fluid lines 20 to 27 goes along. By cyclically recurring determination of the sensor signals of the pressure sensors 42 to 45 and the subsequent processing of the pressure conditions according to the above procedure, the processing device 19, the fluid volume flows for the two working chambers 53, 54 of the compressed air consumer 3 set so that the desired movement profile for the working piston 50 is maintained.
Die in den Figuren 2 und 3 dargestellten Ausführungsformen von fluidischen Systemen 61 und 91 unterscheiden sich von dem fluidischen System 1 gemäß der Figur 1 dadurch, dass der Druckluftverbraucher 63 rein exemplarisch als einfachwirkender Pneumatikzylinder ausgebildet ist, so dass in dem jeweiligen Zylindergehäuse 64 jeweils nur ein Arbeitsraum 65 ausgebildet ist. The embodiments of fluidic systems 61 and 91 shown in FIGS. 2 and 3 differ from the fluidic system 1 according to FIG. 1 in that the compressed air consumer 63 is designed purely by way of example as a single-acting pneumatic cylinder, so that only one in the respective cylinder housing 64 Working space 65 is formed.
Bei der Ausführungsform gemäß der Figur 2 ist die Ventileinrichtung 62 beispielhaft als proportionales 3/3 -Wegeventil ausgebildet, bei dem in der dargestellten Schaltstellung, die auch als Ruhestellung oder Neutralstellung bezeichnet werden kann, fluidisch kommunizierende Verbindungen zwischen einer Fluidquelle 66, einem Arbeitsanschluss 67 sowie einem Flu- idauslass 68 mit Schalldämpfer gesperrt sind. Der Ventilschieber 69 der Ventileinrichtung 62 kann mit Hilfe der zugeordneten Magnetantriebe 70, 71 in zwei unterschiedliche Funktionsstellungen gebracht werden. In der ersten Funktionsstellung wird eine fluidisch kommunizierende Verbindung zwischen der Fluidquelle 66 und dem Arbeitsraum 65 hergestellt. In der zweiten Funktionsstellung wird eine fluidisch kommunizierende Verbindung zwischen dem Arbeitsraum 65 und dem Fluidauslass 68 hergestellt. Die Verarbeitungseinrichtung 72 ist in gleicher Weise wie die Verarbeitungseinrichtung 19 gemäß der Figur 1 ausgebildet und ermöglicht somit anhand von Sensorsignalen der Drucksensoren 73, 74, 75 eine Bereitstellung von vorgebbaren Fluidvolumenströmen in den Arbeitsraum 65 und aus dem Arbeitsraum 65. In the embodiment according to FIG. 2, the valve device 62 is designed, for example, as a proportional 3/3-way valve, in which in the illustrated switching position, which can also be referred to as rest position or neutral position, fluidically communicating connections between a fluid source 66, a working port 67 and a Fluids outlet 68 are blocked with muffler. The valve spool 69 of the valve device 62 can be brought into two different functional positions with the aid of the associated magnetic drives 70, 71. In the first functional position, a fluidically communicating connection between the fluid source 66 and the working space 65 is established. In the second functional position, a fluidically communicating connection between the working space 65 and the fluid outlet 68 is produced. The processing device 72 is designed in the same way as the processing device 19 according to FIG. 1 and thus makes it possible to provide a supply of sensor signals from the pressure sensors 73, 74, 75 predeterminable fluid flow in the working space 65 and from the working space 65th
Bei der Ausführungsform gemäß der Figur 3 sind die Ventileinrichtungen 92 jeweils als proportionale 2/2 -Wegeventile 100,In the embodiment according to FIG. 3, the valve devices 92 are each in the form of proportional 2/2-way valves 100,
101 mit Ventilschiebern 99 als Ventilelementen ausgebildet und können individuell von der zugeordneten Verarbeitungseinrichtung 102 angesteuert werden, um eine wahlweise Bereitstellung von druckbeaufschlagtem Fluid von der Fluidquelle 66 in den Arbeitsraum 65 oder aus dem Arbeitsraum 65 zum Flu- idauslass 68 zu gewährleisten. Die Verarbeitungseinrichtung101 with valve spools 99 as valve elements and can be controlled individually by the associated processing device 102 in order to ensure an optional provision of pressurized fluid from the fluid source 66 into the working space 65 or from the working space 65 to the fluid outlet 68. The processing device
102 ist in gleicher Weise wie die Verarbeitungseinrichtung 19 gemäß der Figur 1 ausgebildet und ermöglicht somit anhand von Sensorsignalen der Drucksensoren 103, 104, 105 eine Bereitstellung von vorgebbaren Fluidströmen in den Arbeitsraum 65 und aus dem Arbeitsraum 65. 102 is formed in the same way as the processing device 19 according to FIG. 1 and thus makes it possible to provide predeterminable fluid flows into the working space 65 and out of the working space 65 on the basis of sensor signals of the pressure sensors 103, 104, 105.

Claims

Ansprüche claims
1. Verfahren zum Betreiben einer Ventileinrichtung (2; 62; 92) zur Druckluftversorgung eines Druckluftverbrauchers (3; 63) , mit den Schritten: Ermitteln eines ersten Fluiddrucks in einem ersten Abschnitt (20, 21, 22, 23) eines Fluidkanals der Ventilanordnung (2; 62; 92) , der sich zwischen einem Ein- gangsanschluss (28, 30) für eine fluidisch kommunizierende Verbindung mit einer Fluidquelle (32; 66) oder Fluidsenke (33; 68) und einem Ventilelement (4, 5, 6, 7; 69; 99) erstreckt, Ermitteln eines zweiten Fluiddrucks in einem zweiten Abschnitt (24, 25, 26, 27) des Fluidkanals der Ventilanordnung (2; 62; 92) , der sich zwischen dem Ventilelement (4, 5, 6, 7; 69; 99) und einem Ausgangsanschluss (29, 31) für eine fluidisch kommunizierende Verbindung mit einem Druckluftverbraucher (3; 63) erstreckt, Ermitteln eines Durchflusswerts für das Ventilelement (4, 5, 6, 7; 69; 99) aus den beiden Fluiddrücken und einer Durchflussfunktion, Verknüpfen des Durchflusswerts mit einem vorgebbaren Fluidvolumenstrom oder Fluidmassenstrom für das druckbeaufschlagte Fluid, der zur Durchströmung des Fluidkanals (20 bis 27) vorgesehen ist, zu einem Leitwert und Ermittlung einer benötigten Betätigungsenergie für eine Betätigungseinrichtung (8, 9, 10, 11; 70, 71; 100, 101) , die für eine Betätigung des Ventilelements (4, 5, 6, 7; 69; 99) ausgebildet ist, und Bereitstellen der Betätigungsenergie an die Betätigungseinrichtung (8, 9, 10, 11; 70, 71; 100, 101) zur Einstellung des vorgebbaren Fluidvolu- menstroms oder Fluidmassenstrom. Method for operating a valve device (2, 62, 92) for supplying compressed air to a compressed air consumer (3, 63), comprising the steps of: determining a first fluid pressure in a first section (20, 21, 22, 23) of a fluid channel of the valve arrangement ( 2, 62, 92) extending between an input port (28, 30) for fluidly communicating communication with a fluid source (32; 66) or fluid sink (33; 68) and a valve member (4, 5, 6, 7) 69; 99), determining a second fluid pressure in a second portion (24, 25, 26, 27) of the fluid passage of the valve assembly (2; 62; 92) located between the valve member (4, 5, 6, 7; 69; 99) and an output port (29, 31) for fluidly communicating communication with a compressed air consumer (3; 63), determining a flow rate value for the valve element (4, 5, 6, 7; 69; 99) from the two fluid pressures and a flow function, linking the flow value with a predeterminable Flui dvolumenstrom or fluid mass flow for the pressurized fluid, which is provided for the flow through the fluid channel (20 to 27), to a conductance and determination of a required actuation energy for an actuating device (8, 9, 10, 11; 70, 71; 100, 101) adapted to actuate the valve member (4, 5, 6, 7, 69, 99) and providing the actuation energy to the actuator (8, 9, 10, 11, 70, 71, 100, 101 ) for setting the predeterminable fluid volume flow or fluid mass flow.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass der Durchflusswert aus der Durchflussfunktion ermittelt wird, die in Beziehung zu einem Quotienten des ersten Fluiddrucks und des zweiten Fluiddrucks gesetzt wird und/oder dass die Betätigungsenergie anhand des Leitwerts und einer, insbesondere experimentell ermittelten, Ventilkennlinie ermittelt wird . 2. The method according to claim 1, characterized in that the flow value is determined from the flow function, which is set in relation to a quotient of the first fluid pressure and the second fluid pressure and / or that the actuation energy based on the conductance and a, in particular experimentally determined, Valve characteristic is determined.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass zwei unabhängig voneinander ansteuerbare Ventilanordnungen (2; 62; 92) vorgesehen sind, deren jeweilige zweite Abschnitte (24, 25, 26, 27) der jeweiligen Fluidkanäle zu einem gemeinsamen Ausgangsanschluss (29, 31) verbunden sind und deren Eingangsanschlüsse (28, 30) mit unterschiedlichen Fluid- quellen (32) oder Fluidsenken (33) verbunden sind, dadurch gekennzeichnet, dass eine wahlweise Ansteuerung einer der beiden Ventilanordnungen (2; 62; 92) in Abhängigkeit von einer Druckdifferenz zwischen dem jeweiligen Eingangsanschluss (28, 30) und dem gemeinsamen Ausgangsanschluss (29, 31) und dem vorgebbaren Fluidvolumenstrom oder Fluidmassenstrom erfolgt . 3. Method according to claim 1, characterized in that two independently controllable valve arrangements (2; 62; 92) are provided whose respective second sections (24, 25, 26, 27) of the respective fluid channels lead to a common outlet connection (29 , 31) are connected and whose input terminals (28, 30) with different fluid sources (32) or fluid sinks (33) are connected, characterized in that an optional control of one of the two valve assemblies (2; 62; 92) in dependence a pressure difference between the respective input port (28, 30) and the common output port (29, 31) and the predeterminable fluid volume flow or fluid mass flow takes place.
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass der Druckluftverbraucher (3) zwei fluidisch getrennte, kinematisch gekoppelte Arbeitsräume (53, 54) aufweist und jedem der Arbeitsräume (53, 54) zwei unabhängig voneinander ansteuerbare Ventilanordnungen (2; 62; 92) zugeordnet sind, deren jeweilige zweite Abschnitte (24, 25, 26, 27) der jeweiligen Fluidkanäle zu einem gemeinsamen Ausgangsanschluss (29, 31) verbunden sind und deren jeweilige Eingangsanschlüsse (28, 30) mit unterschiedlichen Fluidquellen (32) oder Fluidsenken (33) verbunden sind, dadurch gekennzeichnet, dass eine synchrone Druckluftversorgung der beiden Arbeitsräume (53, 54) mit vorgebbaren Fluidvolumenstromen durch wahlweise Ansteue- rung der jeweiligen Ventilanordnungen (2; 62; 92) erfolgt. 4. The method according to claim 3, characterized in that the compressed air consumer (3) has two fluidically separated, kinematically coupled working spaces (53, 54) and each of the working spaces (53, 54) two independently controllable valve arrangements (2; 62; 92) whose respective second sections (24, 25, 26, 27) of the respective fluid channels are connected to a common output port (29, 31) and whose respective input ports (28, 30) are provided with different fluid sources (32) or fluid sinks (33). are connected, characterized in that a synchronous compressed air supply of the two working spaces (53, 54) with predeterminable fluid volume flow by selective actuation of the respective valve arrangements (2, 62, 92).
5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass ein erster Fluidvolumenstrom oder Fluidmassenstrom für einen ersten Arbeitsraum (53) des Druckluftverbrauchers (3) und ein zweiter Fluidvolumenstrom oder Fluidmassenstrom für einen zweiten Arbeitsraum (54) des Druckluftverbrauchers (3) zur Erzielung eines Bewegungsprofils für den angeschlossenen Druckluftverbraucher (3) vorgegeben wird und/oder dass ein erstes Druckverlaufsprofil für den ersten Arbeitsraum (53) und ein zweites Druckverlaufsprofil für den zweiten Arbeitsraum (54) vorgegeben wird. 5. The method according to claim 4, characterized in that a first fluid volume flow or fluid mass flow for a first working space (53) of the compressed air consumer (3) and a second fluid volume flow or fluid mass flow for a second working space (54) of the compressed air consumer (3) to achieve a movement profile is specified for the connected compressed air consumer (3) and / or that a first pressure profile profile for the first working space (53) and a second pressure profile profile for the second working space (54) is specified.
6. Ventileinrichtung zum Betreiben eines Druckluftverbrauchers, mit einer Ventilanordnung, bei der ein Fluidkanal zwischen einem Eingangsanschluss (28, 30) für eine fluidisch kommunizierende Verbindung mit einer Fluidquelle (32) oder Fluidsenke (33) und einem Ausganganschluss (29, 31) für eine fluidisch kommunizierende Verbindung mit einem Druckluftverbraucher (3) ausgebildet ist, sowie mit einem Ventilelement (4, 5, 6, 7; 69; 99) , das für eine Beeinflussung eines Querschnitts des Fluidkanals beweglich im Fluidkanal angeordnet ist und dem eine Betätigungseinrichtung (8, 9, 10, 11; 70, 71; 100, 101) zur Veränderung einer Funktionsposition zugeordnet ist, sowie mit einer Verarbeitungseinrichtung (19) für eine Bereitstellung von Betätigungsenergie an die Betätigungseinrichtung (8, 9, 10, 11; 70, 71; 100, 101) , wobei einem ersten Abschnitt (20, 21, 22, 23) des Fluidkanals zwischen dem Eingangsanschluss (28, 30) und dem Ventilelement (4, 5, 6, 7; 69; 99) ein erster Drucksensor (43, 44) zugeordnet ist und wobei einem zweiten Abschnitt (24, 25, 26, 27) des Fluidkanals zwischen dem Ventilelement (4, 5, 6, 7; 69; 99) und dem Ausganganschluss (29, 31) ein zweiter Drucksensor (42, 45) zugeordnet ist, dadurch gekennzeichnet, dass die Verarbeitungseinrichtung (19) für eine Durchführung eines Verfahrens nach Anspruch 1 oder 2 ausgebildet ist. 6. A valve device for operating a compressed air consumer, comprising a valve arrangement, wherein a fluid channel between an input port (28, 30) for a fluidly communicating connection with a fluid source (32) or fluid sink (33) and an output port (29, 31) for a and a valve element (4, 5, 6, 7, 69, 99), which is arranged for influencing a cross section of the fluid channel in the fluid channel and which has an actuating device (8, 9, 10, 11, 70, 71, 100, 101) for changing a functional position, and processing means (19) for providing actuating energy to the actuating means (8, 9, 10, 11, 70, 71, 100) , 101), wherein a first pressure sensor (43, 101, 22, 23) of the fluid channel between the input port (28, 30) and the valve element (4, 5, 6, 7; , 44) and wherein a second portion (24, 25, 26, 27) of the fluid channel between the valve element (4, 5, 6, 7; 69; 99) and the output port (29, 31), a second pressure sensor (42, 45) is associated, characterized in that the processing means (19) for performing a method according to claim 1 or 2 is formed.
7. Ventileinrichtung nach Anspruch 6, dadurch gekennzeichnet, dass zwei unabhängig voneinander ansteuerbare Ventilanordnungen vorgesehen sind, deren jeweilige zweite Abschnitte7. Valve device according to claim 6, characterized in that two independently controllable valve arrangements are provided, the respective second sections
(24, 25, 26, 27) der jeweiligen Fluidkanäle zu einem gemeinsamen Ausgangsanschluss (29, 31) verbunden sind und deren Eingangsanschlüsse (28, 30) mit unterschiedlichen Fluidquellen(24, 25, 26, 27) of the respective fluid channels to a common output port (29, 31) are connected and their input ports (28, 30) with different fluid sources
(32) oder Fluidsenken (33) verbunden sind, und dass die Verarbeitungseinrichtung (19) für eine Durchführung eines Verfahrens nach Anspruch 3 ausgebildet ist. (32) or fluid sinks (33) are connected, and that the processing device (19) is designed for carrying out a method according to claim 3.
8. Ventileinrichtung nach Anspruch 6, dadurch gekennzeichnet, dass die Verarbeitungseinrichtung (19) mit zwei Paaren von jeweils zwei unabhängig voneinander ansteuerbaren Ven- tilanordnungen verbunden ist, wobei die zweiten Abschnitte8. Valve device according to claim 6, characterized in that the processing device (19) is connected to two pairs of two mutually independently controllable valve tilanordnungen, wherein the second sections
(24, 25, 26, 27) der jeweiligen Fluidkanäle jeweils paarweise zu einem gemeinsamen Ausgangsanschluss (29, 31) verbunden sind und wobei ein erster Eingangsanschluss (28) jedes Paars mit einer Fluidquelle (32) und ein zweiter Eingangsanschluss(24, 25, 26, 27) of the respective fluid channels are each connected in pairs to a common output port (29, 31) and wherein a first input port (28) of each pair having a fluid source (32) and a second input port
(30) jedes Paars mit einer Fluidsenke (33) verbunden ist, dadurch gekennzeichnet, dass die Verarbeitungseinrichtung(30) each pair is connected to a fluid sink (33), characterized in that the processing means
(19) für eine synchrone Druckluftversorgung der beiden Arbeitsräume (53, 54) mit vorgebbaren Fluidvolumenströmen durch wahlweise Ansteuerung der jeweiligen Ventilanordnungen ausgebildet ist. (19) is designed for a synchronous compressed air supply of the two working chambers (53, 54) with predeterminable fluid flow rates by selectively controlling the respective valve assemblies.
9. Ventileinrichtung nach Anspruch 7, dadurch gekennzeichnet, dass die Ventilanordnung als Proportionalventil, insbe- sondere als fluidisch vorgesteuertes Proportionalventil, ausgebildet ist. 9. Valve device according to claim 7, characterized in that the valve arrangement as a proportional valve, in particular special as a fluid pilot-operated proportional valve is formed.
10. Datenträger mit einem Computerprogramm, das zur Speicherung in einer Verarbeitungseinrichtung einer Ventileinrich- tung ausgebildet ist und das bei Verarbeitung in einem Prozessor der Verarbeitungseinrichtung (19) ein Verfahren nach einem der Ansprüche 1 bis 5 bewirkt. 10. Data carrier with a computer program, which is designed for storage in a processing device of a Ventileinrich- device and when processed in a processor of the processing device (19) causes a method according to any one of claims 1 to 5.
EP17715710.4A 2016-04-21 2017-04-04 Method for operating a valve device, valve device and data carrier with a computer program Active EP3445976B1 (en)

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