JP2011530099A - 自動チューニング用の電気油圧弁 - Google Patents
自動チューニング用の電気油圧弁 Download PDFInfo
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- 238000004891 communication Methods 0.000 claims abstract description 14
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- 230000010354 integration Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 44
- 230000006870 function Effects 0.000 description 38
- 238000005457 optimization Methods 0.000 description 14
- 230000007704 transition Effects 0.000 description 11
- 230000004044 response Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000013459 approach Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 241000979837 Chania Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/021—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a variable is automatically adjusted to optimise the performance
-
- 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
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
- F15B13/0433—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves the pilot valves being pressure control valves
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/20—Control of fluid pressure characterised by the use of electric means
- G05D16/2006—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means
- G05D16/2013—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means
- G05D16/2024—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means the throttling means being a multiple-way valve
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/20—Control of fluid pressure characterised by the use of electric means
- G05D16/2093—Control of fluid pressure characterised by the use of electric means with combination of electric and non-electric auxiliary power
- G05D16/2097—Control of fluid pressure characterised by the use of electric means with combination of electric and non-electric auxiliary power using pistons within the main valve
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
- G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
- G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
- G05D7/0641—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means using a plurality of throttling means
- G05D7/0652—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means using a plurality of throttling means the plurality of throttling means being arranged in parallel
-
- 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
- F15B13/16—Special measures for feedback, e.g. by a follow-up device
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Artificial Intelligence (AREA)
- Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Feedback Control In General (AREA)
- Flow Control (AREA)
- Servomotors (AREA)
- Fluid-Pressure Circuits (AREA)
- Magnetically Actuated Valves (AREA)
- Control Of Fluid Pressure (AREA)
Abstract
Description
8のコスト関数である。
最適化プロセス504のステップ520では、プロセス用パラメータは時間t=0で初期化される。一実施形態では、次のパラメータが時間t=0で初期化される。
Claims (20)
- フロー制御弁アセンブリであって、
流体入口、流体出口、第1作業ポート及び第2作業ポートを持ち、かつ、スプール孔及びパイロットスプール孔を形成するハウジングと、
前記スプール孔の中に配置される主段階用スプールと、
前記パイロットスプール孔に配置され、かつ、前記主段階用スプールと選択的に流体連通されているパイロット段階用スプールと、
制限かつ構造化された制御器と補償制御器を持ち、かつ、前記制限かつ構造化された制御器と前記補償制御器の出力は合計されて、前記パイロット段階用スプールに通信される電気信号を形成することを特徴とするフロー制御弁アセンブリ。 - 前記電気信号は、PWM信号であることを特徴とする請求項1に記載のフロー制御弁アセンブリ。
- 前記制御器は、スプール位置制御器であることを特徴とする請求項1に記載のフロー制御弁アセンブリ。
- 前記制御器は、主段階用スプールの変位を測定するスプール位置センサからの情報を受けることを特徴とする請求項3に記載のフロー制御弁アセンブリ。
- 前記制限かつ構造化された制御器は、比例積分制御器であることを特徴とする請求項1に記載のフロー制御弁アセンブリ。
- 前記補償制御器は、前記電気流体制御弁アセンブリに固有のシステム非線形性を補償するために調整されるように構成されていることを特徴とする請求項1に記載のフロー制御弁アセンブリ。
- 制御器の複数のゲインを最適化する方法であって、
該方法は、
制御用パラメータの第1ゲインを形成し、
該制御用パラメータの第2ゲインを形成し、
第1ゲイン、第2ゲイン及び前記制御用パラメータは、装置のための命令信号を発生するために制御器によって使用され、
第1ゲインのためにロウポイント及びハイポイントを選択し、
第2ゲインのためにロウポイント及びハイポイントを選択し、
第1ゲインのロウポイント及びハイポイントと、第2ゲインのためにロウポイント及びハイポイントとを組み合わせ、
各組合わせのための前記装置の前記命令信号の関数である実際のシステムパラメータと所望のシステムパラメータとの間の誤りを演算し、
最も低い誤りをもたらす組合わせを選択し、
後続するアイテレーションにおいて選択された組合わせの第1ゲインと第2ゲインの値を利用することを含むことを特徴とする方法。 - 前記命令信号における変数を検出することをさらに含むことを特徴とする請求項7に記載の方法。
- 前記変数は、上限と下限の外側にある場合、前記命令信号をゼロに設定することをさらに含むことを特徴とする請求項8に記載の方法。
- 前記装置は、電気油圧制御弁であることを請求項7に記載の方法。
- 前記命令信号は、PWM信号であることを請求項10に記載の方法。
- 前記第1ゲインは、比例ゲインであることを請求項11に記載の方法。
- 前記第2ゲインは、積分ゲインであることを請求項12に記載の方法。
- 制限され構造化された制御器の制御パラメータを最適化する方法であって、
第1アイテレーションの第1時間間隔においてコスト関数を評価し、
制御パラメータを演算し、
第1アイテレーションの第2時間間隔において前記コスト関数を評価し、
前記制御パラメータを演算し、
第1アイテレーションの第3時間間隔において前記コスト関数を評価し、
及び、
第1アイテレーションと従前のアイテレーションとを比較し、かつ、制御パラメータの値を、第1アイテレーションで演算された前記制御パラメータと前記従前のアイテレーションで演算された前記制御パラメータの値の内いずれか1つに設定するアイテレーション分析を実行する
ことを特徴とする方法。 - 前記アイテレーション分析は、第1アイテレーションの第3時間間隔における前記コスト関数と従前のアイテレーションの第3時間間隔におけるコスト関数とを比較することを特徴とする請求項14に記載の方法。
- 前記従前のアイテレーションは第1アイテレーションの直前のものであることを特徴とする請求項14に記載の方法。
- 前記コスト関数は、絶対値誤差、オーバーシュート及び設定時間の積分からならなることを特徴とする請求項14に記載の方法。
- ベルヌーイ分布を用いてベクトルを発生することをさらに含むことを特徴とする請求項14に記載の方法。
- 前記ベルヌーイ分布を正規化することをさらに含むことを特徴とする請求項18に記載の方法。
- 上限及び下限に対する前記制御パラメータの要素を比較することをさらに含むことを特徴とする請求項14に記載の方法。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
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US6060108P | 2008-06-11 | 2008-06-11 | |
US61/060,601 | 2008-06-11 | ||
US8760808P | 2008-08-08 | 2008-08-08 | |
US61/087,608 | 2008-08-08 | ||
PCT/US2009/047073 WO2009152355A2 (en) | 2008-06-11 | 2009-06-11 | Auto-tuning electro-hydraulic valve |
Publications (2)
Publication Number | Publication Date |
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JP2011530099A true JP2011530099A (ja) | 2011-12-15 |
JP5522414B2 JP5522414B2 (ja) | 2014-06-18 |
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Application Number | Title | Priority Date | Filing Date |
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JP2011513697A Active JP5522414B2 (ja) | 2008-06-11 | 2009-06-11 | 自動チューニング用の電気油圧弁 |
Country Status (8)
Country | Link |
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US (3) | US8239069B2 (ja) |
EP (2) | EP3276444B1 (ja) |
JP (1) | JP5522414B2 (ja) |
KR (1) | KR20110015696A (ja) |
CN (3) | CN103645752B (ja) |
BR (1) | BRPI0909911A2 (ja) |
CA (1) | CA2727794A1 (ja) |
WO (1) | WO2009152355A2 (ja) |
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- 2009-06-11 KR KR1020117000555A patent/KR20110015696A/ko not_active Application Discontinuation
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- 2009-06-11 JP JP2011513697A patent/JP5522414B2/ja active Active
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EP2297624B1 (en) | 2017-07-19 |
US8527073B2 (en) | 2013-09-03 |
US20120303141A1 (en) | 2012-11-29 |
EP3276444A3 (en) | 2018-04-18 |
US20130297045A1 (en) | 2013-11-07 |
CN103645752A (zh) | 2014-03-19 |
US8239069B2 (en) | 2012-08-07 |
WO2009152355A2 (en) | 2009-12-17 |
CN102177481B (zh) | 2014-01-22 |
CN102177481A (zh) | 2011-09-07 |
JP5522414B2 (ja) | 2014-06-18 |
CN103645752B (zh) | 2017-04-12 |
US20090312852A1 (en) | 2009-12-17 |
KR20110015696A (ko) | 2011-02-16 |
CN106774469B (zh) | 2021-05-04 |
CA2727794A1 (en) | 2009-12-17 |
EP3276444B1 (en) | 2019-11-13 |
BRPI0909911A2 (pt) | 2015-10-06 |
EP3276444A2 (en) | 2018-01-31 |
CN106774469A (zh) | 2017-05-31 |
WO2009152355A3 (en) | 2012-07-05 |
EP2297624A2 (en) | 2011-03-23 |
US9037272B2 (en) | 2015-05-19 |
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