WO1996013670A1 - Dispositif de transmission d'energie de commande mecanique - Google Patents
Dispositif de transmission d'energie de commande mecanique Download PDFInfo
- Publication number
- WO1996013670A1 WO1996013670A1 PCT/FR1995/001424 FR9501424W WO9613670A1 WO 1996013670 A1 WO1996013670 A1 WO 1996013670A1 FR 9501424 W FR9501424 W FR 9501424W WO 9613670 A1 WO9613670 A1 WO 9613670A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- drawer
- distributor
- signal
- sensor
- comparator
- Prior art date
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
- 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
- F15B13/0435—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 sliding valves
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/14—Control of position or direction using feedback using an analogue comparing device
- G05D3/1445—Control of position or direction using feedback using an analogue comparing device with a plurality of loops
Definitions
- the subject of the invention is a mechanical control energy transmission device, in particular of the type comprising an electro-hydraulic servo-valve intended to control an element such as, for example, a double-acting hydraulic cylinder.
- Figure 1 attached illustrates an electro-hydraulic servo valve essentially comprising a hydraulic distributor 1 with linear slide controlled by a rotary electric motor (not shown) whose axis 2 drives a lever 3 in an oscillating movement of limited amplitude around the axis 2, as indicated by the arrow F.
- a ball joint 4 fixed at the end of the lever 3 opposite the axis 2 drives a yoke 5 linked to the drawer 6 of the hydraulic distributor 1.
- a device position feedback (not shown), linked to the electric motor, allows the piloting of the servo-valve.
- the hydraulic fluid under high pressure arrives through the orifice 7 and the return to the reservoir takes place through the orifices 8a and 8b.
- the orifices 9a and 9b are in communication with the member to be controlled, for example the two chambers of a double-acting hydraulic cylinder (not shown).
- An electronic module controls the electric motor as a function of a reference signal corresponding, for example, to a given position of the jack.
- This module acts on the servo-valve so as to cancel the difference between the setpoint signal and the signal supplied by a sensor giving the actual position of the jack.
- the hydraulic fluid passage sections in the distributor 1 must be adapted to the maximum flow required.
- the fluid passage sections must be increased, which leads to an increase in the diameter of the slide 6, as well as in its stroke, because the diameter of the various orifices is also increased.
- a pilot stage generates two hydraulic fluid pressures which are sent respectively to the two ends of a hydraulic slide, called "power slide", itself in equilibrium between two springs.
- the difference in pressures generated by the pilot stage therefore determines the position of this hydraulic slide and, consequently, that of the hydraulic member to be controlled.
- the power slide is subjected to parasitic forces such as friction, hydraulic bonding or inertial forces, which affects the accuracy of the control.
- FIG. 2 illustrates a pilot stage of a type known for this kind of application, known as a "paddle nozzle”.
- a pipe 10 provided with a throttle 11 opens into a pipe 12, one end 13 of which is in the form of a nozzle and the other end of which opens into a chamber 14 inside which a piston 15 moves.
- a pallet 16 is fixed to one 17 of its ends while its free end 18 is in the immediate vicinity of the orifice of the nozzle 13.
- a spring 19 pushes the pallet towards the nozzle 13 while an electromagnet, of which the coil 20 is opposite a metal mass 21 integral with the pallet, urges the latter in the opposite direction: the force acting on the pallet 16 is therefore determined by the combined action of the spring 19 and the electromagnet .
- the device in FIG. 2 operates as follows:
- Pressurized liquid arrives in line 10, passes through the constriction 1 1 and arrives in line 12.
- the jet of pressurized liquid leaving the nozzle 13 acts on the pallet 1 ⁇ S and the carle more or less in (unction of the etlort acting on it
- the distance between the end 18 of the pallet and the orifice of the nozzle 13 determines the pressure liquid in the line 12 and therefore in the chamber 14 which determines the force exerted on the piston 15
- the latter opens into a closed chamber in order to be able to recover and recycle the liquid
- the liquid can act on one end of a hydraulic drawer, a similar system acting on the other end of the drawer
- the position of the latter is determined by the pressures sent respectively to each of its ends, therefore as a function of the current sent to the coils of the electromagnets
- the object of the invention is to eliminate these drawbacks by proposing a mechanical control energy transmission device using a servo-valve which allows a high flow rate while remaining simple and inexpensive.
- the invention has for ob j and a device for transmitting energy of mechanical control to a given member, comprising a power stage controlled by a pilot stage as well as regulation means, characterized in that the stage of power is piloted in position
- the pilot stage and / or the power stage comprises a hydraulic distributor with linear slide
- the pilot stage comprises a hydraulic distributor at low flow or first distributor and the power stage a hydraulic distributor at high flow or second distributor
- the first distributor is a four-way distributor, the two use orifices of which are respectively connected to two chambers provided at the ends of the second distributor, thus making it possible to vary the volume of hydraulic fluid contained in these chambers,
- the second distributor includes a position sensor indicating the position of its drawer
- said position sensor comprises a rod integral with the drawer of the second distributor and co-linear therewith and entering a position measuring device
- the position measuring device comprises a cursor rubbing on the track of a potentiometer or a magnetic sensor using the principle of a linear transformer with variable reluctance;
- the first and / or the second dispenser comprises means for returning its drawer to a predetermined position
- said return means comprise at least one spring acting on one end of the drawer
- the drawer of the first distributor is actuated by a motor such as a rotary electric motor,
- the means of regulation include.
- a state sensor providing a signal representative of the state of the member to be controlled
- a first signal corrector to put this signal in a compatible form means such as a first comparator for calculating the error between the control signal and this transformed signal.
- the means for determining the necessary displacement of the drawer of the power stage include:
- the means for determining the necessary movement of the drawer of the pilot stage include:
- means such as a third comparator for calculating the error between this corrected signal and the signal supplied by the second comparator;
- an amplifier is associated with at least one of said comparators in order to amplify the signal given by this comparator;
- - Said position sensor is a sensor of the position of the drawer of the pilot stage;
- said position sensor is a motor position sensor.
- FIG. 1 is a schematic sectional view of a known device for transmitting mechanical control energy comprising a servo-valve with linear slide;
- FIG. 2 is a schematic view illustrating a pilot stage of the nozzle-pallet type
- FIG. 3 is a schematic sectional view of a device according to the invention.
- FIG. 4 is a block diagram illustrating the means of regulation of the device object of the invention.
- the device of the invention consists of a power stage, bearing the general reference 24, consisting of a hydraulic distributor 24a with linear slide valve at high flow rate, therefore of large drawer section, and of a pilot stage, bearing the general reference 25, essentially consisting of a hydraulic distributor with linear drawer at low flow rate, therefore of small dimensions.
- high-speed distributor is meant a distributor whose drawer has a diameter greater than 10 mm.
- distributors are commonly used in industrial installations, the drawer having a diameter of 30 mm and the orifices a diameter of 15 mm. which makes it possible to obtain a flow rate of approximately 1500 liters per minute under a pressure of 160 bars. It will however be noted that, if these flow rates are very high, they only pass during very short periods, of the order of one Fraction of a second.
- the distributor of the pilot stage 25 is controlled by a rotary electric motor and is identical to that of FIG. 1.
- the power stage 24 includes a hydraulic slide 26 sliding in a jacket 27 itself located inside a body 28. Plugs 29 seal the two ends of the body 28.
- a position sensor 30, mounted on one of the plugs 29, makes it possible to know at any time the position of the drawer 26.
- This sensor may for example consist of a rod 31 integral with the drawer 26 and collinear with it and penetrating inside d 'a position measuring device 31a, which can be located outside the distributor 24a.
- This device can for example consist of a cursor integral with the rod and rubbing on the track of a potentiometer or a magnetic sensor using the principle of a linear transformer with variable reluctance. Such devices are known per se and need not be detailed here.
- two springs 32a, 32b can be provided to bear on the one hand on the ends of the drawer 26 and on the other hand on the plugs 29 to return the drawer to a predetermined rest position when no control is exerted by the pilot stage 25.
- the spring 32b is supported on a washer 33 in contact with one of the plugs 29 and through which the rod 31 of the sensor 30 passes. In the case where the latter must not be immersed, as in FIG. 3, a seal can be provided at this level, to prevent any leakage of liquid from the chamber 40.
- the distributor 1 of the pilot stage 25 can also be equipped with a return spring 34 acting on the end of the drawer 6 opposite the yoke 5 (FIG. 1).
- the spring 34 is mounted on a rod 35 integral with the drawer and is supported on the one hand on the closing plug 36 the distributor on this side and, on the other hand, on a washer 37 in contact with the drawer at the base of the rod 35.
- a blind hole 38 can be provided in the plug 36 to receive the rod 35.
- the chambers 39 and 40 situated at the ends of the body 28, are connected respectively to the use outlets 9a and 9b of the distributor 1 by pipes 41 and 42.
- the pilot stage can send fluid to the chambers 39, 40 or withdraw and therefore move the slide 26.
- the power stage 24 receives the high hydraulic pressure through the orifice 43 and communicates with the reservoir without pressure by the orifices 44a and 44b while the orifices 45a and 45b communicate with the member to be controlled.
- FIG. 4 also shows the member to be controlled, which is here a hydraulic actuator 48 with which a feedback sensor 49 is associated with its condition: for example, if the actuator 48 is a hydraulic cylinder, the sensor 49 may be a position sensor if the cylinder is controlled in position, a force sensor if the cylinder is controlled in force, a pressure sensor if the cylinder is controlled in pressure, or a flow sensor if the cylinder is controlled in flow , or alternatively be replaced by a signal resulting from a calculation taking into account values from different sensors.
- the actuator 48 is a hydraulic cylinder
- the sensor 49 may be a position sensor if the cylinder is controlled in position, a force sensor if the cylinder is controlled in force, a pressure sensor if the cylinder is controlled in pressure, or a flow sensor if the cylinder is controlled in flow , or alternatively be replaced by a signal resulting from a calculation taking into account values from different sensors.
- the actuator 48 is controlled with the device that is the subject of the invention as follows:
- the sensor 49 gives a signal representative of the actual state of the actuator.
- This signal is sent to a signal corrector 49a which puts it in a compatible form, that is to say, as explained above, in a form which makes it usable by the calculation means of the installation, in particular for compare it to other signals.
- This corrected signal 50 is sent to a first comparator 51 which calculates the difference or error between the control signal 52 and the signal 50.
- This error signal is amplified by an amplifier 53 and sent to comparator 54 which also receives a signal 55 given by the sensor 30 through a signal corrector 30a and representative of the position of the drawer of the distributor 24a.
- the comparator 54 calculates the difference between the error signal received from the amplifier 53 and the signal 55, which makes it possible to determine the necessary displacement of the distributor valve 24a to cancel the error on the state of the actuator. 48 because the relationship between the position of the valve spool 24a and the state of the actuator is known or determined by prior tests.
- the error signal given by the comparator 54 after being amplified by the amplifier 56, is sent to a comparator 57 which calculates the difference with a given signal 58, through the corrector 47a, by the position sensor 47 of the pilot floor drawer.
- the senor 47 can be a sensor of the position of the motor since the drawer is mechanically linked to it.
- the corresponding signal is sent to the electric motor 46 to rotate the latter and move the drawer of the distributor 1 by the desired quantity: indeed, as previously, the relationships between the displacements of the drawer of the distributor 24a and those of the distributor drawer 1 on the one hand, the displacements of the distributor drawer 1 and those of the motor 46 on the other hand, are known.
- the device of the invention has particularly advantageous advantages due essentially to the fact that the power stage is controlled in position.
- the movements of the drawer 26 of the distributor 24a can be, if necessary, very rapid because those of the drawer 6 of the distributor 1 of the pilot stage can also be so, which makes it possible to momentarily send a very high pressure into one or the other of rooms 39 and 40.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Fluid-Pressure Circuits (AREA)
- Servomotors (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU38482/95A AU3848295A (en) | 1994-10-27 | 1995-10-27 | Mechanical control power transmission device |
EP95936618A EP0737275A1 (fr) | 1994-10-27 | 1995-10-27 | Dispositif de transmission d'energie de commande mecanique |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9412896A FR2726333B1 (fr) | 1994-10-27 | 1994-10-27 | Dispositif de transmission d'energie de commande mecanique |
FR94/12896 | 1994-10-27 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996013670A1 true WO1996013670A1 (fr) | 1996-05-09 |
Family
ID=9468293
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR1995/001424 WO1996013670A1 (fr) | 1994-10-27 | 1995-10-27 | Dispositif de transmission d'energie de commande mecanique |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP0737275A1 (fr) |
AU (1) | AU3848295A (fr) |
CA (1) | CA2180033A1 (fr) |
FR (1) | FR2726333B1 (fr) |
WO (1) | WO1996013670A1 (fr) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4051423A (en) * | 1976-02-10 | 1977-09-27 | Sperry Rand Corporation | Servo system with feedback signal compensation |
US4748393A (en) * | 1987-02-04 | 1988-05-31 | Ampex Corporation | Positive feedback position servo |
EP0334031A2 (fr) * | 1988-03-25 | 1989-09-27 | Robert Bosch Gmbh | Régulateur pour vanne à deux étages |
EP0589629A1 (fr) * | 1992-09-19 | 1994-03-30 | Trinova Limited | Pilotage des vannes à deux étages |
-
1994
- 1994-10-27 FR FR9412896A patent/FR2726333B1/fr not_active Expired - Fee Related
-
1995
- 1995-10-27 AU AU38482/95A patent/AU3848295A/en not_active Abandoned
- 1995-10-27 WO PCT/FR1995/001424 patent/WO1996013670A1/fr not_active Application Discontinuation
- 1995-10-27 CA CA 2180033 patent/CA2180033A1/fr not_active Abandoned
- 1995-10-27 EP EP95936618A patent/EP0737275A1/fr not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4051423A (en) * | 1976-02-10 | 1977-09-27 | Sperry Rand Corporation | Servo system with feedback signal compensation |
US4748393A (en) * | 1987-02-04 | 1988-05-31 | Ampex Corporation | Positive feedback position servo |
EP0334031A2 (fr) * | 1988-03-25 | 1989-09-27 | Robert Bosch Gmbh | Régulateur pour vanne à deux étages |
EP0589629A1 (fr) * | 1992-09-19 | 1994-03-30 | Trinova Limited | Pilotage des vannes à deux étages |
Non-Patent Citations (1)
Title |
---|
WOLFGANG BACKE: "Fluidtechnische realiserung ungleichmässiger periodischer bewegungen", VDI Z, no. 2, DUSSELDORF DE, pages 22 - 38 * |
Also Published As
Publication number | Publication date |
---|---|
AU3848295A (en) | 1996-05-23 |
CA2180033A1 (fr) | 1996-05-09 |
EP0737275A1 (fr) | 1996-10-16 |
FR2726333B1 (fr) | 1996-12-06 |
FR2726333A1 (fr) | 1996-05-03 |
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