EP3891404A1 - Procede de controle d' un verin - Google Patents
Procede de controle d' un verinInfo
- Publication number
- EP3891404A1 EP3891404A1 EP19868181.9A EP19868181A EP3891404A1 EP 3891404 A1 EP3891404 A1 EP 3891404A1 EP 19868181 A EP19868181 A EP 19868181A EP 3891404 A1 EP3891404 A1 EP 3891404A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- piston
- position sensor
- modeled
- measurements
- defective
- 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.)
- Pending
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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/007—Simulation or modelling
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/857—Monitoring of fluid pressure systems
-
- 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
- F15B2211/875—Control measures for coping with failures
- F15B2211/8757—Control measures for coping with failures using redundant components or assemblies
Definitions
- the present invention relates to the field of actuator control, and in particular actuators for actuating moving members of a turbomachine with variable geometry.
- variable geometries In the aeronautical field, aircraft turbomachines include members called “variable geometries”.
- a variable geometry of a turbomachine such as a turbojet engine is a movable member whose position can be controlled to act on the circulation of a fluid in the turbojet engine, for example on the flow of gas in the primary flow stream of a turbofan engine, to control the behavior of the turbojet engine.
- the variable geometries can be for example valves or movable blades, such as air discharge valves also commonly designated by VBV (for Variable Bleed Valve) or blades of a stator vane with variable setting.
- the valves can also be valves for regulating the air flow rate for cooling the turbine casings, in a system for adjusting the clearances at the tops of the turbine blades by thermal shrinkage of the casings, in order to optimize fuel consumption.
- Cylinders traditionally include a piston movable in translation in a cylinder body. Cylinders are known provided with position sensors and controlled by servovalves, in order to control the position of the piston in the body of said cylinder. Such an assembly formed by a jack, a servovalve and a plurality of position sensors is also called a servo jack.
- the servovalve forms a control member of the jack, for example configured to regulate the pressure or the flow rate of fluid supplying said jack, in order to regulate the position of the piston in the body of the jack.
- measuring devices in order to measure the position of the piston in the cylinder body.
- Said measuring devices traditionally include, and for safety reasons, two redundant position sensors configured to measure simultaneously and independently of each other the position of said piston.
- the position of the piston in the cylinder body is then generally regulated from a average of the piston position measurements provided by the two position sensors.
- a drawback of this type of process is that in the event of a breakdown or disruption of one of the two position sensors causing drifts or amplitude bias, the servo-control of the position of the piston in the cylinder body is disturbed , even in cases where said average is only slightly impacted. Consequently, the position of the piston in the cylinder body is not precisely regulated.
- a turbomachine such as for example VSV (for Variable Stator Valve) which are blades with variable setting in a stator vane (called rectifier) of a high pressure compressor
- VSV for Variable Stator Valve
- rectifier stator vane
- Control of the turbomachine itself is also disturbed by the lack of control of VSVs or even LSVs, risking loss of power control, which is not desirable.
- An object of the present invention is to provide a method of controlling a jack that overcomes the aforementioned problems.
- the invention relates to a method for controlling a jack, comprising steps according to which:
- a cylinder comprising a cylinder body and a piston movable in translation inside the cylinder body;
- a servovalve configured to regulate the energy supplied to said cylinder, so as to control the position of the piston in the body of the cylinder;
- a measuring device having at least a first position sensor and a second position sensor
- measurements of the position of the piston in the cylinder body are carried out simultaneously with the first position sensor and the second position sensor;
- At least a first piston displacement speed is determined from the piston position measurements obtained with the first position sensor; at least a second piston displacement speed is determined from the piston position measurements obtained with the second position sensor; and comparing each of the first and second determined piston displacement speeds with a modeled or predetermined piston displacement speed, so as to identify the most reliable position sensor.
- the cylinder can be a pneumatic or hydraulic cylinder and is preferably a double-acting cylinder.
- the actuator can be used to actuate variable-pitch vanes in a stator vane of a high pressure compressor of a turbomachine.
- the servovalve controls the supply of the cylinder, for example with fluid, from an electronic control signal which it receives at the input, in order to control the movement of the piston in the body of the cylinder and to regulate the position of said piston.
- Each of the position sensors forms a separate measuring device.
- they can be inductive or magnetic position sensors.
- These position sensors can be passive electronic sensors of linear displacements (or LVDT, for Linear Variable Differential Transformer in English).
- the assembly formed by the jack, the servovable and the measuring device forms a servo jack making it possible to control the position of the jack in the jack body.
- the cylinder position is corrected from the position measurements provided by the sensors and from a piston position setpoint.
- the first and second position sensors are identical and placed under similar measurement conditions in order to carry out the position measurements of the piston. These measurements are made at the same time. Also, in normal operation of the two position sensors, the position measurements they provide are substantially identical.
- the modeled or predetermined speed serves as a reference and is considered to be the actual and exact speed of the piston, which would be measured by a perfect position sensor.
- the most reliable position sensor means the position sensor whose position measurements are the most precise and the most consistent with the actual position of the piston in the cylinder body.
- the most position sensor reliable is that providing position measurements making it possible to determine a speed of movement of the piston closest to the speed of movement modeled or predetermined.
- the first and second displacement speeds and the modeled or predetermined displacement velocity of the piston are advantageously considered under similar operating conditions, for example in response to a given servovalve control signal.
- the method according to the invention makes it possible to identify the most reliable position sensor quickly, precisely and with a minimum of measurements to be carried out. It is then possible to regulate the position of the piston from the position measurements provided by said position sensor identified as being the most reliable.
- the control of the position of the piston is therefore improved compared to the methods of the prior art in which the position of the piston is regulated from an average of the position measurements of the two position sensors.
- the position of the piston is more precisely controlled so that the method according to the invention reduces the risk of damage to at least one variable geometry actuated by the jack in the turbomachine.
- the method according to the invention also makes it possible to overcome power loss of control.
- An advantage of the method according to the invention is also to target a defective position sensor among the two position sensors, in order not to regulate the position of the piston from the position measurements provided by this defective sensor and possibly to replace it.
- the identification of the faulty position sensor also makes it possible to assist maintenance and thus saves substantial time, since there is no longer any need to search for the fault by other means.
- said modeled displacement speed of the piston is preferably determined from a predetermined operating model of the assembly formed by the servovalve and the cylinder.
- This model is considered to reflect the normal operation, without incident, of this set.
- This piston speed model has the particular advantage of being very precise and easy to implement, and in particular much more precise and easy to implement than the models of the piston position of the jack. Indeed, the assembly formed by the servovalve and the actuator behaves like an integrator. Also, it is difficult to estimate the position of the piston from a position model and to compare measured positions to such a modeled position. Comparing the piston displacement speeds, obtained from position measurements, with a modeled displacement speed is easier.
- said predetermined displacement speed can be extracted from a table of characteristic values of piston displacement speeds, for example in normal operating conditions.
- This predetermined displacement speed can be stored in an internal memory of the measuring device.
- the steps of determining the first and second speeds of movement of the piston are repeated over a chosen duration so as to determine a plurality of first and second speeds of movement of the piston.
- the comparison of said first and second determined speeds of movement of the piston with said predetermined or modeled speed of movement of the piston comprises a step of calculating a comparison factor R and determining the sign of said comparison factor.
- a positive comparison factor indicates that the first position sensor is the most reliable and a negative comparison factor indicates that the second position sensor is the most reliable or vice versa.
- the comparison factor R is calculated according to the following equation:
- Vi and v 2 are the first and second determined speeds of movement of the piston in the body of the jack and v m0 d is the predetermined or modeled speed of movement of the piston.
- the integration is preferably done over a chosen period of time, so that the comparison factor translates a comparison of the first and second displacement speeds of the piston with the modeled displacement speed of the piston over said chosen period of time.
- the use of the integral eliminates measurement aberrations and noise which may appear when determining said first and second piston displacement speeds. The accuracy of the comparison and therefore the identification of the most reliable position sensor are therefore improved.
- the comparison factor is preferably kept in memory.
- the piston is configured to delimit a first chamber and a second chamber inside the piston body and the modeled speed of movement of the piston is a function of a modeled pressure difference between said first and second chambers.
- the modeled pressure difference can be a function of a modeled flow of fuel injected into the combustion chamber of the turbomachine as well as the pressure upstream of the combustion chamber.
- the modeled displacement speed of the piston is a function of a supply current of the servovalve. This current is also called wrap current.
- the modeled displacement speed of the piston is a function of an equilibrium current determined by applying a filtering function of the first order to said supply current of the servovalve.
- the use of said equilibrium current makes it possible to obtain a particularly precise model of the displacement speed of the piston.
- the modeled displacement speed of the piston is preferably determined from the following relationship:
- i eq is the equilibrium current
- DR is the pressure difference modeled between said first and second chambers.
- K is a gain which can be determined by linear regression from the modeled displacement speed of the piston, the supply current of the servovalve and said pressure difference.
- a preliminary step of detecting the presence of at least one defective position sensor is carried out and the step of comparing the first and second determined piston displacement speeds with the modeled or predetermined piston displacement speed is carried out when the presence of a faulty position sensor is detected.
- defective is meant a position sensor whose position measurements of the piston of the jack are particularly aberrant with respect to the actual position of the piston in the body of the jack and are therefore not satisfactory. It may in particular be a faulty, out of adjustment or improperly calibrated position sensor. The failure of a position sensor generally causes the position measurements it provides to drift.
- the comparison step makes it possible to identify the position sensor providing the most precise piston position measurements and the most consistent with the actual position of the piston in the cylinder body, among the two position sensors. If one position sensor is defective while the other is functioning properly, the properly functioning position sensor will be identified as the most reliable. In the event that the two position sensors are defective, the least defective position sensor will be identified as being the most reliable.
- the detection step makes it possible to carry out the comparison step only when a failure of one of the position sensors is detected. This makes it possible not to carry out the comparison step permanently and to identify the most reliable position sensor only when necessary.
- One advantage is to save computing resources.
- the comparison step is carried out only over a limited time interval, facilitating the identification of the fault, from a reduced number of piston position measurements. The identification of the most reliable position sensor is improved.
- the presence of a defective position sensor can be detected by observing particularly aberrant position measurements provided by one of the position sensors or by observing a fault or a incident in the control of the cylinder piston position.
- the detection step advantageously makes it possible to detect a very slight failure or disruption of one of the sensors, for example small amplitude biases or slow drifts.
- the presence of a defective position sensor is detected from the piston position measurements obtained respectively with the first position sensor and with the second position sensor.
- the presence of a defective position sensor is advantageously detected by observing a discrepancy between said piston position measurements provided by the two position sensors.
- the step of detecting the presence of a defective position sensor comprises a step according to which the difference between the position measurements of the piston obtained with the first position sensor and the position measurements of the piston are determined. obtained with the second position sensor.
- the step of detecting the presence of a defective position sensor further comprises steps according to which the variance of said deviation is calculated and said variance is compared to a predetermined detection threshold.
- a defective position sensor for example broken down
- the position measurements which it supplies derive just like said deviation more or less strongly.
- the variance of said deviation changes much more quickly and strongly and therefore makes it possible to detect more quickly a defective position sensor and therefore even a slight sensor failure.
- the predetermined detection threshold is preferably chosen to be very low, so as to very quickly detect the presence of a defective position sensor. This also makes it possible to detect even a slight failure of a position sensor, for example the presence of a slightly deregulated position sensor. An advantage is to allow the identification of the most reliable position sensor as soon as one of the position sensors is slightly defective. The detection is therefore precise, thanks to which the control of the jack is improved.
- a counter is triggered from the detection of the presence of a defective position sensor and the step of comparing the first and second determined piston displacement speeds with a modeled or predetermined piston displacement speed is interrupted.
- the counter value is incremented periodically from its initial value, for example every second.
- the counter threshold is arbitrarily fixed, for example at 30 seconds.
- the use of the counter makes it possible to carry out the comparison step over a limited period, from the detection of a defective position sensor. This further facilitates the identification of the most reliable position sensor and reduces the resources mobilized to carry out the step of comparing the first and second determined displacement speeds of the piston with the modeled or predetermined displacement velocity of the piston.
- the position sensor identified as being the most reliable is selected and the position of the piston is regulated using the position measurements of the piston provided by said selected position sensor.
- One advantage is to control the position of the piston with precision, using the most precise measurements of the position of the piston in the cylinder body and in accordance with the actual position of the piston.
- the regulation of the position of the piston is improved compared to the methods of the prior art providing for regulation from the average of the position measurements provided by the set of position sensors. Regulation of the piston position is not affected in the event of a failure of one of the position sensors.
- an additional step of detecting the presence of a defective position sensor is carried out and the step of selecting the most reliable position sensor is carried out if a defective position sensor has been detected during the detection step.
- An advantage is to make sure of the presence of a defective position sensor and not to select a position sensor if all the position sensors function correctly. If no defective position sensor is detected during the additional detection step, the position of the piston in the cylinder body will be regulated from the position measurements provided by all the position sensors.
- the additional detection step makes it possible to confirm the presence of a defective position sensor .
- the preliminary detection step, conditioning the triggering of the comparison step is preferably strict and may lead to the detection by error of a defective position sensor.
- the additional detection step is preferably less strict and makes it possible to detect only a significant failure of the position sensors and therefore to take account only of the really defective position sensors.
- One advantage is to ensure the presence of a defective position and only proceed to the selection step of the most reliable position sensor when necessary.
- the step of further detecting the presence of a defective position sensor comprises a step of calculating the difference between the position measurements of the piston obtained respectively with the first position sensor and with the second position sensor and the step of selecting the most reliable position sensor is carried out if the absolute value of said deviation is greater than a predetermined additional detection threshold.
- the presence of a defective position sensor is therefore detected when the piston position measurements provided by the two position sensors diverge strongly.
- the predetermined additional detection threshold is preferably fixed at a value large enough for the selection step to be carried out only when the difference between the position measurements obtained with the two position sensors is particularly large, reflecting a failure or a significant measurement inaccuracy of one of the position sensors. Below the predetermined additional detection threshold, it is considered that no position sensor is defective and the step of selecting the most reliable position sensor is not carried out.
- the invention also relates to a device for controlling a jack comprising a jack body and a piston movable in translation inside the jack body, the checking device comprising:
- a servovalve configured to regulate the energy supplied to the jack, so as to control the position of the piston in the body of the jack;
- a measuring device comprising at least a first position sensor and a second position sensor, the position sensor being configured to simultaneously carry out measurements of the position of the piston in the cylinder body; and a processing module configured to determine at least a first speed of movement of the piston from the position measurements of the piston obtained with the first position sensor and configured to determine at least a second speed of movement of the piston from the measurements of position of the piston obtained with the second position sensor, the processing module being configured to compare said first and second determined speeds of movement of the piston with a modeled or predetermined speed of movement of the piston.
- the processing module advantageously comprises a module for determining the speed of the piston configured to determine said first and second speeds of movement of the piston and a comparison module configured to compare said first and second determined speeds of movement of the piston with the speed of movement modeled or predetermined piston.
- FIG. l Figure 1 illustrates a control device according to the invention
- Figure 2 illustrates a processing module of the control device of Figure 1;
- FIG. 3 is a detailed view of the processing module of Figure 2.
- Figure 4 illustrates the steps of the method of controlling a cylinder according to the invention.
- the invention relates to a method for controlling a cylinder as well as to a device for controlling a cylinder, making it possible to implement the method.
- This control method makes it possible to identify the most reliable position sensor among a set of position sensors and to control the position of the piston of the jack using the position measurements of the piston provided by this position sensor.
- FIGS. 1 to 3 With the aid of FIGS. 1 to 3, there will be described a device for controlling a jack, in accordance with the present invention, making it possible to implement a method for checking a jack according to the invention.
- the jack makes it possible to actuate variable-pitch vanes in a compressor, forming movable members of a turbomachine.
- the turbomachine conventionally comprises a combustion chamber.
- FIG. 1 illustrates a control device 10 of a cylinder 12 according to the present invention.
- the control device 10 comprises a servovalve 14, a measuring device 16 and a processing module 18.
- the jack 12 comprises a jack body 20 and a piston 22 movable in translation in the body of the jack.
- the piston defines a first chamber 24 and a second chamber 26 inside the cylinder body 20.
- the cylinder is a double-acting cylinder, so that it moves in the body of the cylinder 20 as a function of the fluid pressure present in the first and second chambers 24,26.
- the servovalve 14 is a distributor making it possible to regulate the flow of fluid supplying the first and second chambers of the jack, as a function of an electronic control signal which it receives at the input.
- the servovalve 14 therefore makes it possible to adjust the position of the piston 22 in the body of the jack 20, as a function of a set position.
- the measuring device 16 comprises a first position sensor 28 and a second position sensor 30, each configured to measure the position and provide measurements of the position of the piston in the body of the jack.
- the processing device 18 comprises a detection module 32 configured to detect the presence of a defective position sensor, an identification module 34 configured to identify the most reliable position sensor and a module selection 36 configured to select the most reliable position sensor and control the regulation of the position of the piston from the position measurements obtained by said selected position sensor.
- the processing device also includes a reset module 37.
- the processing device 18 further comprises a module for determining a modeled speed 38 configured to determine a modeled speed of movement v m0 d of the piston in the body 20 of the jack 12.
- the module for determining a speed modeled 38 includes a module for estimating a pressure difference 40, a module for determining an equilibrium current 42 and a computer 44.
- the module for estimating a pressure difference 40 is configured to determine a pressure difference DR between the first and second chambers 24, 26 of the jack 20.
- the detection module 32 comprises an alert module 46, configured to generate a detection signal Y 0 , as well as a counter 48.
- the identification module 34 comprises a comparison module 50 and a module for determining the speed of the piston 52 configured for determine a first speed of movement Vi of the piston from the position measurements provided by the first position sensor 28 and a second speed of movement v 2 of the piston in the cylinder body from the position measurements provided by the second position sensor position 30.
- the most reliable position sensor selection module 36 comprises an additional detection module 54 and a control module 56.
- the control device 10 of the jack 12 makes it possible to slave in real time the position of the piston 22 in the body of the jack 20.
- the first and second position sensors 28, 30 are configured to provide each of the position measurements. piston.
- the servovalve 14 then controls the supply of fluid making it possible to bring the piston to a set position, as a function of the position measured by the position sensors.
- the first and second position sensors continuously and simultaneously measure the position of the piston in the cylinder body.
- the first position sensor 28 makes it possible to obtain a plurality of first measurements Xi of the position of the piston and the second position sensor 30 makes it possible to obtain second measurements X 2 of the position of the piston.
- the position measurements X 1 , X 2 obtained by each of the first and second position sensors 28, 30 are supplied to the detection module 32 and more precisely to the alert module 46 of the detection module.
- the alert module 46 is configured to determine in real time the difference between the first Xi and second X 2 position measurements obtained simultaneously by the first and second position sensors and to calculate the variance of said difference. The alert module 46 then compares said variance to a predetermined detection threshold.
- the alert module 46 does not transmit any detection signal and the control of the jack is not impacted.
- first position sensor 28 is faulty and therefore defective, so that the first position measurements Xi which it provides are inaccurate and diverge and are therefore distant from the real position of the piston and from the second measurements of position X 2 provided by the second position sensor 30. Also, the difference between the first and second position measurements Ci, C ⁇ varies rapidly and with a large amplitude.
- the detection threshold is advantageously chosen to be low, in order to quickly detect a failure, even a slight one of the position sensors. For example, a slight divergence of the position measurements Ci, C ⁇ obtained by one of the position sensors 28,30 will be detected.
- the counter 48 On reception of the detection signal Y 0 , the counter 48 starts a counting, during which the value of the counter is incremented periodically, and transmits a trigger signal Yi to the identification module 34 and more precisely to the comparison module 50.
- the module for determining a modeled speed 38 determines in real time a modeled speed v m0 d of the piston 22 in the body of the jack 20, which it supplies to the comparison module 50.
- the pressure difference estimation module 40 calculates a pressure difference DR between the first chamber 24 and the second chamber 26 of the piston.
- This pressure difference is, without limitation, determined from the fuel injection flow rate D into the combustion chamber of the turbomachine, from the pressure P 0 upstream of said combustion chamber and the speed of rotation a from high pressure body of the turbomachine.
- the pressure difference estimation module 40 supplies said pressure difference DR determined to the computer 44.
- the module for determining an equilibrium current 42 is configured to determine an equilibrium current i eq from a current i supplying the servovalve 14, also called a "wrap" current.
- the equilibrium current i eq is determined by applying a first order filter to said current i supplying the servovalve
- the module for determining an equilibrium current 42 is configured to determine the sliding variance of the position of the piston of the jack measured by one of the two position sensors.
- the equilibrium current determination module 42 is configured to keep the value of the equilibrium current i eq constant when said sliding variance is greater than a sliding variance threshold, which indicates an abrupt variation in the position of the jack.
- the supply current of the servovalve i and the equilibrium current i eq are transmitted to the computer 44.
- the computer is configured to calculate the modeled displacement speed v m0 d of the piston in the body 20 of the jack 12. limiting, this modeled displacement speed is calculated according to the following equation:
- K is a gain that can be determined by linear regression from said modeled speed v m0 d, from the supply current of the servovalve i and from the pressure difference DR between the first chamber 24 and the second chamber 26 of the piston. Said modeled speed v m0 d is transmitted to the comparison module 50.
- the module for determining the speed of the piston 52 of the identification module 34 determines a first speed of movement vi of the piston from the first position measurements Xi supplied by the first position sensor 28. It is understood that said first displacement speed vi of the piston is determined from a plurality of first position measurements Xi of the piston 22 supplied by the first position sensor 28.
- the module for determining the speed of the piston 52 also determines a second displacement speed v 2 of the piston from the second position measurements X 2 provided by the second position sensor 30.
- the values of the first and second displacement speeds vi, v 2 of the piston are transmitted to the comparison module 50 of the identification module 34.
- the comparison module 50 performs a comparison of the first and second displacement speeds vi, v 2 of the piston with the modeled speed v m0 d used as value of reference. To do this, the comparison module 50 calculates a comparison factor R and determines the sign of said comparison factor R.
- the comparison factor R is calculated according to the following equation: [Math.
- the integrations are carried out over a chosen period of time, for example 0.3 seconds, in order to reduce the measurement noise.
- the comparison factor R is positive, the first speed of movement Vi of the piston, determined from the first position measurements Xi obtained with the first position sensor 28, is further from the modeled speed v m0d than the second speed of displacement v 2 of the piston, determined from the second position measurements obtained with the second position sensor 30, over the chosen period of time.
- This reflects the fact that the first speed of displacement of the piston is less satisfactory than the second speed of movement of the piston, and that the second position measurements X 2 of the piston obtained with the second position sensor 30 are more precise than the first measurements.
- position Xi of the piston obtained with the first position sensor 28 is more precise than the first measurements.
- a positive comparison factor R therefore indicates that the second position sensor 30 is more reliable than the first position sensor 28.
- a negative comparison factor R reflects the fact that the position measurements obtained with the first sensor are more precise than those obtained with the second position sensor. The first position sensor is then considered to be the most reliable.
- the comparison module 50 calculates, updates in real time and stores the comparison factor R, as long as the value of the counter remains below a predetermined counter threshold, for example 30 seconds.
- the comparison module transmits the comparison factor R, positive in this example, to the selection module 36 and more precisely to the control module 56.
- the counter 48 When the value of the counter 48 reaches the predetermined counter threshold, the counter transmits an end of comparison signal Y 2 to the comparison module 50 and to the reset module 37. On receipt of the end of comparison signal Y 2 , the module comparator 50 interrupts the calculation of comparison factor R.
- the comparison module 50 is therefore only active after reception of the trigger signal Yi and before reception of the end of comparison signal Y 2 .
- the detection module additional identification 54 of the selection module 36 is configured to check and confirm the presence of a defective position sensor. To do this, the additional detection module 54 calculates in real time the absolute value of the difference between the first position measurements of the piston Xi obtained with the first position sensor 28 and the second position measurements X 2 obtained with the second position sensor 30 and compares this absolute value with an additional detection threshold.
- the additional detection module 54 transmits an additional detection signal Y 3 to the control module 56 as well as to the reset module 37.
- the additional detection threshold is preferably fixed at a value high enough for the transmission of the additional detection signal Y 3 to take place only when the position measurements obtained with the two position sensors are particularly different and inconsistent, reflecting a significant measurement inaccuracy of one of the position sensors.
- the transmission of the additional detection signal Y 3 makes it possible to confirm the presence of a defective position sensor and to ensure that the presence of a defective position sensor has not been detected by error by the detection module 32 .
- control module 56 In the absence of an additional detection signal Y 3 received by the control module 56, the presence of a defective position sensor is not confirmed and the control module 56 remains inactive.
- control module 56 receives an additional detection signal Y 3 , the presence of a defective position sensor is confirmed.
- the first position measurements Xi provided by the first sensor 28 are particularly aberrant and distant from the second position measurements X 2 provided by the second position sensor 30.
- the additional detection module 54 transmits the detection signal additional Y 3 .
- the control module 56 selects the most reliable position sensor from the first and second position sensors 28.30, from the comparison factor R. In this example, the comparison factor R is positive so that the second sensor 30 is selected as the most reliable.
- the control module 56 then transmits a control signal Z, in particular to the servovalve, in order to select the most reliable position sensor, in this case the second sensor 30, and to control the regulation of the position of the piston 22 in the body 20 of the cylinder 12 only from the position measurements obtained with the selected position sensor.
- the most reliable position sensor selection step is therefore performed only when the presence of a defective position sensor is confirmed by the additional detection module 54.
- the reset module 37 transmits a reset signal Y 4 to the comparison module 50. This translates the detection by error of a defective position sensor by the detection module 32.
- the comparison module 50 places the value of the comparison factor R at a chosen initial value, for example 0. On the other hand, if it receives an additional detection signal Y3, the reset module 37 remains inactive.
- FIG. 4 illustrates the steps of an embodiment of the method for controlling a jack according to the invention. This process can be implemented by the control device illustrated in FIGS. 1 to 3.
- a first step SI measurements of the position of the piston in the cylinder body are carried out simultaneously with the first position sensor. and the second position sensor.
- a second step S2 a first speed of displacement of the piston is determined from the position measurements of the piston obtained with the first position sensor and a second speed of movement of the piston is determined from the measurements of the position of the piston obtained with the second position sensor.
- a third step S3 is then carried out of detecting the presence of at least one defective position sensor from the position measurements of the piston obtained respectively with the first position sensor and with the second position sensor.
- this third detection step S3 comprises the steps according to which the difference between the piston position measurements obtained with the first position sensor and the position measurements of the piston obtained with the second position sensor, the variance of said deviation is calculated and said variance is compared to a predetermined detection threshold.
- a fourth step S4 is carried out of comparing each of the first and second determined piston displacement speeds with a modeled or predetermined piston displacement speed, so as to identify the most reliable.
- a fifth step S5 of triggering a counter is carried out.
- the fourth comparison step S4 is carried out until the counter value exceeds a counter threshold.
- a sixth step S6 is then carried out of additional detection of the presence of a defective position sensor.
- This step includes a step of calculating the difference between the piston position measurements obtained respectively with the first position sensor and with the second position sensor and the absolute value of said difference is compared with a predetermined additional detection threshold.
- step S7 is then carried out of selecting the position sensor identified as being the most reliable.
- An eighth step S8 of regulating the position of the piston is then carried out using the piston position measurements provided by said selected position sensor.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Fluid-Pressure Circuits (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1872531A FR3089578B1 (fr) | 2018-12-07 | 2018-12-07 | Procédé de contrôle d’un vérin |
PCT/FR2019/052811 WO2020115400A1 (fr) | 2018-12-07 | 2019-11-26 | Procede de controle d' un verin |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3891404A1 true EP3891404A1 (fr) | 2021-10-13 |
Family
ID=66049328
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19868181.9A Pending EP3891404A1 (fr) | 2018-12-07 | 2019-11-26 | Procede de controle d' un verin |
Country Status (8)
Country | Link |
---|---|
US (1) | US11434943B2 (fr) |
EP (1) | EP3891404A1 (fr) |
JP (1) | JP7387738B2 (fr) |
CN (1) | CN113167304B (fr) |
BR (1) | BR112021009752A2 (fr) |
CA (1) | CA3120212A1 (fr) |
FR (1) | FR3089578B1 (fr) |
WO (1) | WO2020115400A1 (fr) |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IT1250831B (it) * | 1991-07-31 | 1995-04-21 | Fiat Auto Spa | Sistema per il controllo in sicurezza intrinseca della sterzatura delle ruote posteriori di un autoveicolo. |
DE19927372C2 (de) * | 1999-06-16 | 2003-06-18 | Eads Deutschland Gmbh | Verfahren und Vorrichtung zum Erkennen einer Fehlfunktion von Stellantrieben |
DE10013196B4 (de) * | 2000-03-17 | 2004-02-26 | Festo Ag & Co. | Positionserfassungseinrichtung |
JP2003148108A (ja) * | 2001-11-12 | 2003-05-21 | Mitsubishi Heavy Ind Ltd | サーボ弁システム及びその動作方法 |
US6999853B2 (en) * | 2002-05-03 | 2006-02-14 | Fisher Controls International Llc. | Methods and apparatus for operating and performing diagnostics in a control loop of a control valve |
DE10318171C5 (de) * | 2003-04-17 | 2015-12-03 | Samson Ag | Verfahren zur funktionsüberwachten Bestimmung einer Ventilstellung sowie ein in diesem Verfahren verwendbarer Ventilstellungsaufnehmer und Verwendung desselben |
JP4628815B2 (ja) * | 2005-02-18 | 2011-02-09 | 株式会社小松製作所 | シリンダの位置計測装置 |
US7518523B2 (en) * | 2007-01-05 | 2009-04-14 | Eaton Corporation | System and method for controlling actuator position |
FR2936067B1 (fr) * | 2008-09-18 | 2012-04-27 | Airbus France | Procede et dispositif de detection de pannes oscillatoires dans une chaine d'asservissement en position d'une gouverne d'aeronef |
US8290631B2 (en) * | 2009-03-12 | 2012-10-16 | Emerson Process Management Power & Water Solutions, Inc. | Methods and apparatus to arbitrate valve position sensor redundancy |
DE102010034994B4 (de) * | 2010-08-20 | 2012-06-06 | Festo Ag & Co. Kg | Messeinrichtung und Verfahren zur Erfassung und Verarbeitung einer Position eines Messglieds |
US9128008B2 (en) * | 2012-04-20 | 2015-09-08 | Kent Tabor | Actuator predictive system |
US9546672B2 (en) * | 2014-07-24 | 2017-01-17 | Google Inc. | Actuator limit controller |
DE102016214357B4 (de) * | 2016-08-03 | 2018-08-23 | Audi Ag | Hydrauliksystem für ein Automatikgetriebe eines Kraftfahrzeugs |
US10428842B2 (en) * | 2017-05-05 | 2019-10-01 | Aurora Flight Sciences Corporation | Pneumatic actuation systems having improved feedback control |
-
2018
- 2018-12-07 FR FR1872531A patent/FR3089578B1/fr active Active
-
2019
- 2019-11-26 JP JP2021532049A patent/JP7387738B2/ja active Active
- 2019-11-26 CA CA3120212A patent/CA3120212A1/fr active Pending
- 2019-11-26 WO PCT/FR2019/052811 patent/WO2020115400A1/fr unknown
- 2019-11-26 BR BR112021009752-0A patent/BR112021009752A2/pt unknown
- 2019-11-26 US US17/296,491 patent/US11434943B2/en active Active
- 2019-11-26 CN CN201980080593.8A patent/CN113167304B/zh active Active
- 2019-11-26 EP EP19868181.9A patent/EP3891404A1/fr active Pending
Also Published As
Publication number | Publication date |
---|---|
FR3089578A1 (fr) | 2020-06-12 |
CN113167304B (zh) | 2024-06-25 |
BR112021009752A2 (pt) | 2021-08-17 |
WO2020115400A1 (fr) | 2020-06-11 |
CN113167304A (zh) | 2021-07-23 |
JP7387738B2 (ja) | 2023-11-28 |
CA3120212A1 (fr) | 2020-06-11 |
US20220034336A1 (en) | 2022-02-03 |
JP2022510453A (ja) | 2022-01-26 |
FR3089578B1 (fr) | 2021-01-29 |
US11434943B2 (en) | 2022-09-06 |
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