EP3960309A1 - Procédé de résonance pour un système de vibrations, convertisseur, unité d'excitation et système de vibrations - Google Patents

Procédé de résonance pour un système de vibrations, convertisseur, unité d'excitation et système de vibrations Download PDF

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Publication number
EP3960309A1
EP3960309A1 EP20193664.8A EP20193664A EP3960309A1 EP 3960309 A1 EP3960309 A1 EP 3960309A1 EP 20193664 A EP20193664 A EP 20193664A EP 3960309 A1 EP3960309 A1 EP 3960309A1
Authority
EP
European Patent Office
Prior art keywords
phase position
deflection
electrical
speed
sub
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP20193664.8A
Other languages
German (de)
English (en)
Inventor
Christoph Fritsch
Theo Richter
Martin Streubühr
Bernd Wedel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to EP20193664.8A priority Critical patent/EP3960309A1/fr
Priority to PCT/EP2021/072685 priority patent/WO2022043108A1/fr
Priority to CN202180053757.5A priority patent/CN116033972A/zh
Priority to US18/023,642 priority patent/US20230311159A1/en
Priority to EP21762685.2A priority patent/EP4149693A1/fr
Publication of EP3960309A1 publication Critical patent/EP3960309A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
    • B06B1/0207—Driving circuits
    • B06B1/0223—Driving circuits for generating signals continuous in time
    • B06B1/0238—Driving circuits for generating signals continuous in time of a single frequency, e.g. a sine-wave
    • B06B1/0246—Driving circuits for generating signals continuous in time of a single frequency, e.g. a sine-wave with a feedback signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
    • B06B1/0207—Driving circuits
    • B06B1/0223—Driving circuits for generating signals continuous in time
    • B06B1/0238—Driving circuits for generating signals continuous in time of a single frequency, e.g. a sine-wave
    • B06B1/0246—Driving circuits for generating signals continuous in time of a single frequency, e.g. a sine-wave with a feedback signal
    • B06B1/0261—Driving circuits for generating signals continuous in time of a single frequency, e.g. a sine-wave with a feedback signal taken from a transducer or electrode connected to the driving transducer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
    • B06B1/04—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism
    • B06B1/045—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism using vibrating magnet, armature or coil system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B2201/00—Indexing scheme associated with B06B1/0207 for details covered by B06B1/0207 but not provided for in any of its subgroups
    • B06B2201/70—Specific application
    • B06B2201/72—Welding, joining, soldering

Definitions

  • the invention relates to a resonance method for an oscillating system for resonantly oscillating an excitation unit with an oscillating mass. Furthermore, the invention relates to a converter, the excitation unit and the vibration system.
  • the excitation unit usually includes electromagnets, which can be operated by means of electrical converters and cause the oscillating mass to oscillate based on inductive energy transmission.
  • Such an oscillating system is used, for example, as a friction welding machine or oscillating conveyor.
  • the vibration mass which has a first workpiece carrier and the first workpiece connected to it, is set into forced vibrations by means of an excitation unit.
  • the oscillating mass is usually mounted so that it can swing by means of a spring device.
  • the first workpiece is rubbed against the second workpiece, which is connected to a generally stationary second workpiece carrier, until it welds.
  • the desired vibration can be generated with a particularly low expenditure of energy.
  • This resonant frequency of the vibration system is decisively determined by the vibration mass, which here includes the first workpiece, and the vibration-capable mounting of the vibration mass, ie the spring stiffness of the spring device used.
  • the resonant frequency ie the resonant frequency
  • Vibration state of the excitation unit and vibration mass is mandatory and required with considerable effort.
  • the vibration system does not work optimally, in particular in terms of energy, as a result of which its efficiency is greatly reduced or the desired vibration amplitude cannot be achieved and the required welding quality is rather poor.
  • Previous applications such as friction welding, mainly use pre-operative methods to determine/estimate the resonance frequency in order to then excite the vibration mass using the excitation unit and achieve the required resonant vibration state of the excitation unit and vibration mass.
  • the desired resonant frequency is determined by means of an independent run-up test before the actual production process and then operated with it until a new run-up attempt becomes necessary due to the use of a new first workpiece or unwanted deviations in the production process that have occurred in the meantime make a correction necessary.
  • the invention is therefore based on the object of proposing a resonance method, a converter, an excitation unit and an oscillating system which have a required resonant oscillation state for the resonant oscillation of the excitation unit with an oscillating mass of the oscillating system continuously determined during production and the vibration system is operated with it.
  • the object is achieved by a resonance method with the features specified in claim 1, by a converter according to the features specified in claim 9, by an excitation unit with the converter according to the features specified in claim 12 and a vibration system with the excitation unit according to the features specified in claim 14 features resolved.
  • a resonance method for an oscillating system for resonantly oscillating an excitation unit with an oscillating mass comprising the steps of deflection detection of a deflection of the oscillating mass, speed formation of a speed of the oscillating mass by differentiating the deflection, phase position generation of a mechanical phase position by means of the deflection and the speed, a phase position correction of the mechanical phase position by means of a correction value to a corrected phase position, a frequency formation of an electrical angular frequency by means of at least one P control based on the corrected phase position, a phase position formation of an electrical phase position by means of integration based on the electrical angular frequency, a factor formation of a Correction factor by means of a trigonometric function based on the electrical phase position and a setpoint application of an excitation ing setpoint with the correction factor to generate a corrected excitation setpoint.
  • the method is advantageously based on the intellectual restriction of the freedom of movement (the degree of freedom) of the oscillating mass and on its resonant frequency (here the electrical circular frequency) compared to the excitation unit.
  • a normalized speed for generating the mechanical phase positions is preferably selected as the speed.
  • the corrected phase position results continuously in an advantageous manner by means of a correction value.
  • P control (with gain component K p )
  • PI control with gain component K p and integral component I
  • PID control with gain component K p , integral component I and differentiation component D
  • P control can also be used for frequency formation of the circular electrical frequency.
  • the electric circular frequency that is formed is also to be understood as the current oscillation frequency (requested resonance frequency) or last current oscillation frequency (last requested resonance frequency). Targeted programming of the control is therefore not necessary.
  • the electrical angular frequency is integrated in an advantageous manner for the phase position formation of the electrical phase position.
  • the excitation setpoint as an electrical value for a vibration-generating force of the excitation unit for exciting the oscillating mass is advantageously corrected with the correction factor, such that a corrected electrical value for the vibration-generating force is generated as a corrected excitation setpoint for the resonant oscillation to be achieved by the excitation unit and oscillating mass will.
  • an electromagnet is electrically excited by the excitation unit, which generates the corresponding resonant oscillation of the excitation unit and oscillation mass.
  • the resonance method has the step of speed normalization of the speed using the electrical circular frequency to a normalized speed, the speed being divided by the electrical circular frequency.
  • the correction value for the phase position correction is the returned electrical phase position, and the returned electrical phase position is preferably subtracted from the mechanical phase position.
  • the electrical phase angle fed back as a correction value to the mechanical phase angle in a control loop can also be added to the mechanical phase angle, taking into account the sign of the mechanical phase angle and the electrical phase angle.
  • an initial Specified angular frequency or last known electrical angular frequency used.
  • the initial circular frequency can preferably be specified as a parameter, for example, which can already correspond to the desired resonance frequency.
  • the mechanical phase position is determined in particular between a deflection amplitude of the deflection and the speed or between a deflection amplitude of the deflection and the deflection.
  • the normalized speed for determining the deflection amplitude is preferably selected as the speed.
  • a deflection signal is detected by a deflection measuring device for deflection detection and the deflection signal is corrected by a direct component depending on the installation location of the deflection measuring device with respect to the vibration mass DC component parameters are specified or determined by a DC component high-pass filter.
  • the deflection measuring device measures the deflection of the oscillating mass compared to a rest position of the oscillating mass and provides the deflection in the deflection signal for further processing by the resonance method.
  • the measured deflection value of the deflection associated with the deflection signal can be corrected by means of the direct component parameter or the direct component high-pass filter with regard to the installation location of the deflection measuring device.
  • the desired excitation value is a desired current and the corrected desired excitation value is a corrected desired current.
  • the excitation target value as an electrical value for the vibration-generating force and the corrected excitation target value as a corrected electrical value for the vibration-generating force for controlling the electromagnets, e.g. by means of an electrical converter, are each advantageously designed as a target current for generating a force-generating vibration excitation.
  • a corresponding setpoint voltage is also suitable in each case.
  • the electrical circular frequency is monitored for disturbances during the resonant oscillation of the excitation unit and oscillation mass for disturbance monitoring.
  • the electrical circular frequency can advantageously be monitored by means of a lower frequency limit for falling below the electrical circular frequency and/or an upper frequency limit for falling below the electrical circular frequency.
  • a converter which has a detection means, designed to detect a deflection of a deflection of the oscillating mass, a first generating means, designed to generate a speed of the oscillating mass by differentiating the deflection, a generating means, designed to generate a phase position of a mechanical phase position using the deflection and the speed, a correction means, designed to correct the phase position of the mechanical phase position by means of a correction value to a corrected phase position, a second means of formation, designed to form an electrical angular frequency by means of at least one P controller on the basis of the corrected phase position, a third means of formation, designed to Phase position formation of an electrical phase position by means of integration on the basis of the electrical angular frequency, a fourth formation means, designed for factor formation of a correction factor by means of a trigonometric function on the basis of the electrical phase position and an application means, designed to apply the correction factor to a target value of an excitation target value in order to generate a corrected excitation
  • the converter has a normalization means designed for speed normalization of the speed using the electrical circular frequency to a normalized speed, the speed being divisible by the electrical circular frequency.
  • the returned electrical phase position is provided as a correction value for the phase position correction and the returned electrical phase position can preferably be subtracted from the mechanical phase position.
  • the converter is designed to carry out the resonance method according to the invention as described above.
  • an excitation unit which has at least one electromagnet for exciting the oscillating mass, the converter according to the invention for operating the at least one electromagnet, and a deflection measuring device for measuring the deflection of the oscillating mass compared to a rest position of the oscillating mass.
  • the deflection measured by the deflection measuring device is transmitted by a deflection signal to the detection means of the converter for deflection detection.
  • the excitation unit has at least one spring element, with the at least one spring element being connected to the vibration mass.
  • an oscillating system which has the excitation unit according to the invention and the oscillating mass.
  • the vibration system is designed as a friction welding device or as a transport device.
  • Transport devices are, for example, conveyor devices for material transport (so-called vibrators or oscillating conveyors), which transport their goods on conveyor belts that are set in motion.
  • FIG 1 shows a structogram of the resonance method 1 according to the invention with method steps for resonant oscillation of an excitation unit with an oscillating mass.
  • a deflection signal detected by a deflection measuring device for this purpose can be corrected by a DC component depending on the installation location of the deflection measuring device relative to the vibration mass, with the DC component being specified by a DC component parameter 34 or determined by a DC component high-pass filter 19.
  • a speed of the oscillating mass is formed during speed formation 6, the speed being converted into a normalized speed on the basis of the electrical circular frequency by dividing the speed by the electrical circular frequency.
  • phase position generation 7 a mechanical phase position is generated on the basis of the deflection and the speed.
  • the phase position correction 8 converts the mechanical phase position into a corrected phase position by means of a correction value.
  • the correction value is the electrical phase angle fed back in a control loop, the electrical phase angle fed back preferably being subtracted from the mechanical phase angle.
  • a frequency formation 9 of an electrical circular frequency takes place by means of at least one P control based on the corrected phase position.
  • the P control can also be in the form of a PI control or a PID control.
  • an initial circular frequency can be specified or the last known electrical circular frequency can be used.
  • the electrical circular frequency can be monitored for disturbances in the resonant oscillation of the excitation unit and oscillation mass for a disturbance monitoring 33 .
  • Typical faults can be caused, for example, by mechanical defects when the vibration mass vibrates, so that the required circular electrical frequency can be too low or too high and the resonance process may have to be stopped.
  • phase position formation 10 of an electrical phase position an integration takes place on the basis of the electrical angular frequency.
  • a trigonometric function based on the electrical phase angle is used and the correction factor corrects an excitation setpoint to a corrected excitation setpoint during setpoint application 12 .
  • FIG 2 a schematic control representation of the resonance method 1 according to the invention is shown.
  • the resonance method 1 can be carried out by a converter, in particular by a control unit of the converter.
  • a detection means 21 is designed to detect a deflection 5 of a deflection x of the oscillating mass.
  • a deflection signal detected as deflection x by a deflection measuring device is corrected by a direct component by a direct component high-pass filter 19 by a high-pass filter 37 depending on the installation location of the deflection measuring device relative to the vibration mass.
  • a first formation means 22 differentiates the deflection x by means of the speed formation 6 to a speed v of the oscillating mass.
  • the speed v is further converted into a normalized speed v n by a normalization means 35 in a speed normalization 15 on the basis of a returned angular electrical frequency ⁇ el by dividing the speed v by the angular electrical frequency ⁇ el .
  • a generating means 23 is designed for phase position generation 7 of a mechanical phase position ⁇ m , which takes place on the basis of the deflection x and the speed v.
  • a correction means 24 is designed for the phase position correction 8 of the mechanical phase position ⁇ m , the mechanical phase position ⁇ m being converted into a corrected phase position ⁇ k by means of a correction value k ⁇ .
  • a returned electrical phase position ⁇ el is used as the correction value k ⁇ , the returned electrical phase position ⁇ el being subtracted from the mechanical phase position ⁇ m .
  • a second formation means 25 is designed for frequency formation 9 of the angular electrical frequency ⁇ el by means of a P control, which can also be a PI control or a PID control, on the basis of the corrected phase angle ⁇ k .
  • the electrical angular frequency ⁇ el is returned to the normalization means 35 for the speed normalization 15 at this point.
  • An initial circular frequency ⁇ in can be specified by an initialization means 36 for method initialization 16 .
  • a phase position 10 of the electrical phase position ⁇ el is formed by a third formation means 26 by means of integration on the basis of the electrical angular frequency ⁇ el .
  • the electrical phase angle ⁇ el is fed back to the correction means 24 for the phase angle correction 8 .
  • a factor formation 11 of a correction factor k F is carried out by a fourth formation means 27 by means of a trigonometric function on the basis of the electrical phase angle ⁇ el .
  • An application means 28 designed to apply a setpoint value 12 to an excitation setpoint 13 in the form of a setpoint current I s with the correction factor k F , generates a corrected excitation setpoint 14 in the form of a corrected setpoint current I sk .
  • an electromagnet which is included in the excitation unit and excites the oscillating mass to resonant oscillation, is operated with this corrected setpoint current I sk .
  • means 3 a schematic representation of a friction welding device 32 with the converter 20 according to the invention, the excitation unit 4 according to the invention and the vibration system 2 according to the invention is shown.
  • the vibration system 2 is designed here, for example, as a friction welding device 32 with the excitation unit 4 and an oscillating mass 3 .
  • a first fastening means 41 for a first workpiece 43 is arranged on the vibration mass 3 .
  • the oscillating mass 3 with the first fastening means 41 and the first workpiece 43 is mounted so as to be able to oscillate.
  • a second workpiece 44 is connected to a second fastening means 42 directly opposite the first workpiece 43 .
  • the second workpiece 44 on the second fastening means 42 is firmly fixed in relation to the first workpiece 43 and is not mounted so that it can swing.
  • the excitation unit 4 for exciting vibrations in the oscillating mass 3 comprises the converter 20, an electromagnet 29, another electromagnet 30, a first and second spring element 38, 39 for the oscillating mounting of the oscillating mass 3, a deflection measuring device 18 and a deflection measuring device 18 connected to the converter 20 transmitted deflection signal, which has a measured actual value of the deflection.
  • the deflection is measured by means of the deflection measuring device 18 in relation to a rest position 31 of the oscillating mass 3.
  • control method according to the invention can be carried out by means of the converter 20, in particular by means of the control unit 40 of the converter 20.
  • the first workpiece 43 fastened to the first fastening means 41 of the vibration mass 3 is set in resonant vibrations with the excitation unit 4 .
  • the first workpiece 43 which is set in motion, rubs against the firmly fixed and non-vibrating second workpiece 44, with frictional heat being generated and the two workpieces 43, 44 being welded to one another in an energy-efficient manner and with high manufacturing quality.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)
  • Gyroscopes (AREA)
EP20193664.8A 2020-08-31 2020-08-31 Procédé de résonance pour un système de vibrations, convertisseur, unité d'excitation et système de vibrations Withdrawn EP3960309A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP20193664.8A EP3960309A1 (fr) 2020-08-31 2020-08-31 Procédé de résonance pour un système de vibrations, convertisseur, unité d'excitation et système de vibrations
PCT/EP2021/072685 WO2022043108A1 (fr) 2020-08-31 2021-08-16 Procédé de résonance pour un système de vibration, convertisseur, unité d'excitation et système de vibration
CN202180053757.5A CN116033972A (zh) 2020-08-31 2021-08-16 振动系统的谐振方法、转换器、激励单元及振动系统
US18/023,642 US20230311159A1 (en) 2020-08-31 2021-08-16 Resonance method for a vibration system, a converter, an excitation unit and the vibration system
EP21762685.2A EP4149693A1 (fr) 2020-08-31 2021-08-16 Procédé de résonance pour un système de vibration, convertisseur, unité d'excitation et système de vibration

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20193664.8A EP3960309A1 (fr) 2020-08-31 2020-08-31 Procédé de résonance pour un système de vibrations, convertisseur, unité d'excitation et système de vibrations

Publications (1)

Publication Number Publication Date
EP3960309A1 true EP3960309A1 (fr) 2022-03-02

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Family Applications (2)

Application Number Title Priority Date Filing Date
EP20193664.8A Withdrawn EP3960309A1 (fr) 2020-08-31 2020-08-31 Procédé de résonance pour un système de vibrations, convertisseur, unité d'excitation et système de vibrations
EP21762685.2A Pending EP4149693A1 (fr) 2020-08-31 2021-08-16 Procédé de résonance pour un système de vibration, convertisseur, unité d'excitation et système de vibration

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP21762685.2A Pending EP4149693A1 (fr) 2020-08-31 2021-08-16 Procédé de résonance pour un système de vibration, convertisseur, unité d'excitation et système de vibration

Country Status (4)

Country Link
US (1) US20230311159A1 (fr)
EP (2) EP3960309A1 (fr)
CN (1) CN116033972A (fr)
WO (1) WO2022043108A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4001367A1 (de) * 1990-01-18 1991-09-19 Branson Ultraschall Vorrichtung zum einstellen eines maschinenparameters beim reibungsschweissen
EP1216760A2 (fr) * 2000-12-20 2002-06-26 Digitec S.r.l. Générateur de puissance pour soudage par ultrasons avec controle digital de la fréquence et de la puissance
US7148636B2 (en) * 2002-05-31 2006-12-12 Matsushita Electric Industrial Co., Ltd. Motor drive control apparatus
DE102011119949A1 (de) * 2011-12-01 2013-06-06 Northrop Grumman Litef Gmbh Regelungsvorrichtung, Drehratensensor und Verfahren zum Betrieb einer Regelungsvorrichtung mit harmonischem Sollwertsignal
US20190165247A1 (en) * 2017-07-19 2019-05-30 Branson Ultrasonics Corporation Method of controlling amplitude of mechanical excitation of a piezoelectric powered ultrasonic stack including under load

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4001367A1 (de) * 1990-01-18 1991-09-19 Branson Ultraschall Vorrichtung zum einstellen eines maschinenparameters beim reibungsschweissen
EP1216760A2 (fr) * 2000-12-20 2002-06-26 Digitec S.r.l. Générateur de puissance pour soudage par ultrasons avec controle digital de la fréquence et de la puissance
US7148636B2 (en) * 2002-05-31 2006-12-12 Matsushita Electric Industrial Co., Ltd. Motor drive control apparatus
DE102011119949A1 (de) * 2011-12-01 2013-06-06 Northrop Grumman Litef Gmbh Regelungsvorrichtung, Drehratensensor und Verfahren zum Betrieb einer Regelungsvorrichtung mit harmonischem Sollwertsignal
US20190165247A1 (en) * 2017-07-19 2019-05-30 Branson Ultrasonics Corporation Method of controlling amplitude of mechanical excitation of a piezoelectric powered ultrasonic stack including under load

Also Published As

Publication number Publication date
EP4149693A1 (fr) 2023-03-22
WO2022043108A1 (fr) 2022-03-03
CN116033972A (zh) 2023-04-28
US20230311159A1 (en) 2023-10-05

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