WO1997009663A1 - Procede d'asservissement d'une servovalve pouvant etre asservie en debit et en pression - Google Patents
Procede d'asservissement d'une servovalve pouvant etre asservie en debit et en pression Download PDFInfo
- Publication number
- WO1997009663A1 WO1997009663A1 PCT/FR1996/001374 FR9601374W WO9709663A1 WO 1997009663 A1 WO1997009663 A1 WO 1997009663A1 FR 9601374 W FR9601374 W FR 9601374W WO 9709663 A1 WO9709663 A1 WO 9709663A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- value
- pressure difference
- values
- loop
- control
- Prior art date
Links
Classifications
-
- 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
- G05D16/202—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 actuated by an electric motor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/0318—Processes
- Y10T137/0324—With control of flow by a condition or characteristic of a fluid
- Y10T137/0379—By fluid pressure
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/7722—Line condition change responsive valves
- Y10T137/7758—Pilot or servo controlled
- Y10T137/7761—Electrically actuated valve
Definitions
- the present invention relates to a method for controlling a servo valve which can be controlled by flow or by pressure. It applies in particular to hydraulic servovalves used in brake systems or automatic vehicle guidance.
- Such servovalves comprise a hydraulic slide provided with return means and set in motion by a rotary actuator such as an electric motor; the return means maintain the drawer in a neutral position from which the drawer can be driven in translation in two opposite directions to obtain two working positions, corresponding for example to the pressurization or to the covering of the circuit.
- Such servovalves have two control loops: one, which is called the flow control loop, operates when the servovalve is intended to dose a flow, and the other, which is called a pressure loop, operates when the servovalve is intended to control a pressure in a volume, a brake, a jack, etc.
- the loops implement: a sensor which measures the position of the motor linked to the valve of the servovalve, in the case of flow control; one or two pressure sensors which measure the pressure in one or two volumes, in the case of pressure control.
- the measurements are compared with position setpoints for the flow and pressure loop for the pressure loop (s).
- PID Proportional Integral Derivative
- the regulation loops determine power control levels for the motor which are insufficient for optimal transitions to be obtained on transient speeds.
- a state control module which determines the current to be applied to the motor and, consequently, the torque to be imposed on the motor.
- the power is controlled in the part of the equipment constituted by the transistor bridge controlling the motor and the duty cycle of this bridge.
- the duty cycle varies in relation to the software which imposes the status command.
- the object of the invention is to alleviate the aforementioned drawbacks, in particular to improve the speed of response of the servovalve for transient situations and to eliminate the drawbacks due to the passage of the dead zone.
- the subject of the invention is a method for controlling a servovalve comprising a drawer provided with return means and set in motion by a rotary actuator such as an electric motor, the control device comprising two loops nested, a first flow control loop as a function of the measurement of the angular position of the rotary actuator and a second control loop with variable pressure control as a function of the pressure measurement, characterized in that the first control loop is a proportional action loop, the gain of which is constant for values of the absolute value of the position deviation which are less than at least one threshold value, then varies increasingly for the values of the absolute value of the pressure difference which are greater than said first threshold.
- the gain value (Kpa) is an increasing function of the volume capacity of the chamber whose pressure must be controlled, the difference between the gains for two given volumes being constant when the pressure difference varies.
- a fixed value is added to the value of the position setpoint supplied to the first control loop from the start of the passage in the dead zone and, for decreasing values of the position
- the main advantages of the invention are that it makes it possible to use a proportional derivative control and, consequently, to obtain short response times, by eliminating the effects due to the passage of the drawer in the dead zone.
- FIG. 1 a block diagram of the servo-control device
- FIG. 5 is a block diagram of a servovalve and its servo device.
- the servovalve itself is constituted by a hydraulic slide 1, controlled by an electric motor 2 and provided with return devices not shown.
- the hydraulic slide 1 controls, for example, the pressurization or the covering of a chamber 3.
- the motor is controlled by an electronic control device 4 with modulation of the pulse width.
- a position sensor 5 measures the angular position of the motor and a pressure sensor 6 measures the pressure prevailing in the chamber 3.
- a first control loop includes a comparator 11, which receives a position reference value and the actual value of the position supplied by the sensor 5. This comparator provides a position deviation signal to a control circuit 12 proportional control, which provides a control signal to the electronic control device 4, by pulse width modulation. This first loop is completed by the motor 2 and the position sensor 5.
- This first control loop is nested in a second control loop, which comprises a use chamber 3 and a pressure sensor 6, the output signal of which is sent to a variable control servo device 21.
- the latter supplies a corrected pressure signal to a comparator 22 which also receives a pressure reference value and supplies a pressure difference signal to an electronic control circuit 23 supplying a position reference signal to the comparator 11 of the first loop .
- This second control loop also includes the control device 12, the electronic circuit 4, the motor 2 and the hydraulic slide 1.
- the proportional action servo-control circuit 12 provides a gain value which is a function of the value of the pressure difference signal ⁇ supplied by the comparator 22. The law for controlling the value of the gain is indicated by the curve in FIG.
- the threshold and the value of the constant gain are different for the positive and negative values of the pressure difference ⁇ .
- the threshold S is higher but the value of the gain K is less than the value K of the gain for the negative values, the threshold S 'for the negative values being, in absolute value, lower than the threshold S for positive values.
- the value of the gain varies progressively as a function of the absolute value of the position difference, according to a linear function in the example shown.
- a second threshold S ′ is provided which is greater than the first threshold S ′ and, from this threshold value S ′ of the absolute value of the position deviation,
- the gain values are higher for the negative values of the latter than for its positive values.
- the positive threshold S is equal to 40 bars
- the thresholds for the negative values S 'and S' are respectively equal to 8 and 14 bars
- the absolute value of the slope of the linear function for positive values greater than 40 bars is equal to 1; for negative values between 8 and 14 bars in absolute value, the absolute value of the slope of the linear function is equal to 0.5, and for negative values greater than 14 bars in absolute value, the slope of the linear function is equal to 1 as for positive values greater than 40 bars.
- FIG. 3 represents the computer control flow diagram making it possible to obtain this law of variation of the gain of the first control loop of the position of the motor.
- a first step 30 it is determined whether the pressure difference ⁇ p is positive or negative. In the case where it is positive, the pressure difference is compared with the first threshold value S in a step 31. As long as this difference is greater than this threshold, the gain is determined according to a linear function in a step 33, the slope of this linear function being equal to 1. When the pressure difference drops below this threshold value, in step 32 the value of the gain K has a constant value K.
- the absolute value is first calculated in a step 34 and then compared with the threshold S 'in a step 35 and when the absolute value of the pressure difference is lower than this threshold value, the gain Kpa is fixed at the value K2 in a step 36. Otherwise, the absolute value of the pressure difference ⁇ is compared with the second threshold S 'in a step 37. If this absolute value is less than this threshold, a first linear function is determined in a step 38 whose absolute value of the slope is equal to 0 , 5 and, in the opposite case, a second linear function with a higher slope is determined in a step 39, the absolute value of which is equal to 1.
- a correction of the dead zone is carried out in order to remove the time constant introduced by the passage of the slide in this dead zone.
- a dead zone value ZM is defined which corresponds to the travel of the slide until the hydraulic connection is established; this dead zone ZM corresponds for example to 0.5 mm for a total stroke of the drawer of 4 mm.
- a first step 40 the sign of variation ⁇ x of the slide stroke is determined, each sign corresponding to a direction of translation of the slide. Yes this variation is positive, it is compared with the value -ZM in a step 41 and if the position x is greater than this value, in a step 42, a fixed value corresponding to the dead zone ZM.
- step 43 at a value equal to + ZM and as long as the value of position x. is greater than this value, the correction of step 42 is carried out.
- curves in FIG. 5a which represent, as a function of time t, for curve 5a, the position setpoint normally supplied by the circuit 23, for curve 5b, the copy of the position of the motor, for the curve 5c, the flow rate of the servovalve without correction of the dead zone, for curve 5d, the correction of the set point produced according to the invention and for curve 5e, the flow rate of the servovalve when the zone correction is carried out dead.
- control processes are performed digitally by a microprocessor located in the device 21 and use software for controlling the servovalve.
- the servovalve according to the invention can be used with chambers of different volumes. It is sufficient, for the regulation of the gain K, to determine a basic value which is an increasing function of the volume of the chamber of use.
- the software is the same and the curves in Figure 2 corresponding to different pressures are simply offset by a fixed value and are therefore obtained by translation parallel to the axis of gains K
Landscapes
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Fluid-Pressure Circuits (AREA)
- Servomotors (AREA)
- Feedback Control In General (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/029,252 US5915401A (en) | 1995-09-08 | 1996-09-06 | Servocontrol process for a servovalve which can be servocontrolled in terms of flow rate and pressure |
EP96930228A EP0848844A1 (fr) | 1995-09-08 | 1996-09-06 | Procede d'asservissement d'une servovalve pouvant etre asservie en debit et en pression |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR95/10535 | 1995-09-08 | ||
FR9510535A FR2738613B1 (fr) | 1995-09-08 | 1995-09-08 | Procede d'asservissement d'une servovalve hydraulique pouvant etre asservie en debit et en pression |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1997009663A1 true WO1997009663A1 (fr) | 1997-03-13 |
Family
ID=9482377
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR1996/001374 WO1997009663A1 (fr) | 1995-09-08 | 1996-09-06 | Procede d'asservissement d'une servovalve pouvant etre asservie en debit et en pression |
Country Status (5)
Country | Link |
---|---|
US (1) | US5915401A (fr) |
EP (1) | EP0848844A1 (fr) |
CA (1) | CA2231340A1 (fr) |
FR (1) | FR2738613B1 (fr) |
WO (1) | WO1997009663A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105589481A (zh) * | 2015-03-31 | 2016-05-18 | 河南华润电力古城有限公司 | 智能滑压控制方法及系统 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20020189947A1 (en) * | 2001-06-13 | 2002-12-19 | Eksigent Technologies Llp | Electroosmotic flow controller |
US7465382B2 (en) * | 2001-06-13 | 2008-12-16 | Eksigent Technologies Llc | Precision flow control system |
US7004362B2 (en) * | 2001-12-07 | 2006-02-28 | Boone Brian T | Method and apparatus for carrying a car seat |
JP4298354B2 (ja) * | 2002-04-24 | 2009-07-15 | キヤノン株式会社 | 位置制御システムおよび位置制御方法 |
US7454254B2 (en) * | 2005-08-30 | 2008-11-18 | Honeywell International, Inc. | Aircraft cabin pressure control system and method for reducing outflow valve actuator induced cabin pressure oscillations |
US20200348702A1 (en) * | 2019-04-30 | 2020-11-05 | Illinois Tool Works Inc. | Advanced pressure based mass flow controllers and diagnostics |
DE102019209091A1 (de) * | 2019-06-24 | 2020-12-24 | Festo Se & Co. Kg | Verfahren zum Betreiben eines Fluidsystems, Fluidsystem und Computerprogrammprodukt |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4798527A (en) * | 1988-03-07 | 1989-01-17 | Vickers, Incorporated | Control system for injection molding machine |
US5094260A (en) * | 1990-10-26 | 1992-03-10 | Alcon Surgical, Inc. | Proportional valve and pressure control system |
US5297987A (en) * | 1992-06-01 | 1994-03-29 | United Technologies Corporation | Pressure control servo loop |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2948295A (en) * | 1955-09-13 | 1960-08-09 | Conval Corp | Electrical valve positioner |
US3402972A (en) * | 1966-08-11 | 1968-09-24 | Gen Electric | Continuous pressure control system |
US3552428A (en) * | 1968-06-20 | 1971-01-05 | Phillips Petroleum Co | Automatically tuned process controller |
US4142489A (en) * | 1975-10-09 | 1979-03-06 | Thomson-Csf | Electronic arrangement for controlling the ignition of an internal combustion engine |
US4059128A (en) * | 1976-03-12 | 1977-11-22 | Dresser Industries, Inc. | Digital pressure standard |
FR2374528A1 (fr) * | 1976-12-17 | 1978-07-13 | Cii | Systeme d'allumage electronique et moteur a combustion interne equipe d'un tel systeme |
FR2437506A1 (fr) * | 1978-09-29 | 1980-04-25 | Thomson Csf | Capteur de position angulaire pour moteur a combustion interne equipe d'un systeme d'allumage electronique |
US4313414A (en) * | 1980-01-14 | 1982-02-02 | Thomson-Csf | Shaft position sensor for an internal combustion engine equipped with an electronic ignition system |
US4417312A (en) * | 1981-06-08 | 1983-11-22 | Worcester Controls Corporation | Electronic controller for valve actuators |
US4961441A (en) * | 1989-11-13 | 1990-10-09 | Salter Stuart C | Method and system for controlling a pressure regulator |
FR2682922B1 (fr) * | 1991-10-23 | 1996-07-05 | Thomson Csf | Procede et dispositif de freinage de vehicules par asservissement du couple de freinage applique sur une roue. |
FR2688620B1 (fr) * | 1992-03-10 | 1994-10-21 | Thomson Csf | Dispositif de transmission d'energie de commande mecanique, notamment pour le controle de la pression de freinage dans un frein. |
FR2696398B1 (fr) * | 1992-10-06 | 1994-11-04 | Thomson Csf | Procédé, dispositif de freinage et véhicule équipé. |
FR2708747B1 (fr) * | 1993-08-06 | 1995-09-01 | Thomson Csf | Procédé de recalibrage d'un processeur de gestion d'énergie de batteries. |
FR2708746B1 (fr) * | 1993-08-06 | 1995-09-01 | Thomson Csf | Procédé d'évaluation de la charge restante dans une batterie d'accumulateurs. |
FR2713019B1 (fr) * | 1993-11-23 | 1995-12-22 | Thomson Csf | Procédé et dispositif de surveillance et d'équilibrage dynamique d'un pack de batteries d'accumulateurs. |
FR2721413B1 (fr) * | 1994-06-21 | 1996-08-30 | Thomson Csf | Dispositif de commande d'un tiroir hydraulique. |
-
1995
- 1995-09-08 FR FR9510535A patent/FR2738613B1/fr not_active Expired - Fee Related
-
1996
- 1996-09-06 WO PCT/FR1996/001374 patent/WO1997009663A1/fr not_active Application Discontinuation
- 1996-09-06 CA CA 2231340 patent/CA2231340A1/fr not_active Abandoned
- 1996-09-06 EP EP96930228A patent/EP0848844A1/fr not_active Ceased
- 1996-09-06 US US09/029,252 patent/US5915401A/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4798527A (en) * | 1988-03-07 | 1989-01-17 | Vickers, Incorporated | Control system for injection molding machine |
US5094260A (en) * | 1990-10-26 | 1992-03-10 | Alcon Surgical, Inc. | Proportional valve and pressure control system |
US5297987A (en) * | 1992-06-01 | 1994-03-29 | United Technologies Corporation | Pressure control servo loop |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105589481A (zh) * | 2015-03-31 | 2016-05-18 | 河南华润电力古城有限公司 | 智能滑压控制方法及系统 |
Also Published As
Publication number | Publication date |
---|---|
FR2738613B1 (fr) | 1997-10-24 |
CA2231340A1 (fr) | 1997-03-13 |
US5915401A (en) | 1999-06-29 |
FR2738613A1 (fr) | 1997-03-14 |
EP0848844A1 (fr) | 1998-06-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US4907493A (en) | Valve control system for hitch motor | |
US6424902B1 (en) | Method and apparatus for operating a continuously variable transmission in the torque limited region near zero output speed | |
CN1023196C (zh) | 注塑机控制系统 | |
FR2685264A1 (fr) | Dispositif d'entrainement pour un vehicule de travaux, appareil et procede pour synchroniser les vitesses de moteurs d'entrainement separes d'un tel dispositif. | |
FR2508104A1 (fr) | Dispositif de commande pour un moteur pouvant fonctionner avec deux carburants gaz/gazole | |
FR2761039A1 (fr) | Procede et dispositif de mise en oeuvre d'un systeme de guidage d'un vehicule automobile | |
FR2874410A1 (fr) | Procede et dispositif pour commander un verin pneumatique | |
FR2800427A1 (fr) | Procede et systeme de commande d'un ecoulement de fluide dans un systeme electrohydraulique comprenant des circuits hydrauliques multiples | |
FR2607199A1 (fr) | Dispositif pour produire des pressions hydrauliques elevees | |
FR2574355A1 (fr) | Procede et dispositif de commande de la pression de freinage dans des equipements de freinage de vehicule | |
JP2001108098A (ja) | 油圧機械式駆動装置用の下限速度制御装置及びその作動方法 | |
EP0231160A2 (fr) | Méthode et appareil de direction pour véhicule | |
FR2489545A1 (fr) | Systeme adaptif pour la detection des defaillances d'une servocommande d'un aeronef | |
EP0249559B1 (fr) | Procédé et dispositif d'asservissement en position d'un verin pneumatique | |
WO1997009663A1 (fr) | Procede d'asservissement d'une servovalve pouvant etre asservie en debit et en pression | |
US20210025374A1 (en) | Hydraulic Pressurizing Medium Supply Assembly, and Method | |
FR2473130A1 (fr) | Systeme de commande de pompes hydrauliques pour engins de genie civil | |
FR2582422A1 (fr) | Procede de traitement de signal pour supprimer les interferences | |
JP2013528763A (ja) | トランスミッション・モータトルクの較正 | |
US5628187A (en) | Method to calibrate a hydrostatic transmission with electronic controls | |
FR2812249A1 (fr) | Dispositif de regulation d'un systeme d'entrainement pour chariot de manutention | |
FR2982239A1 (fr) | Procede et dispositif de detection du blocage d'une gouverne d'aeronef. | |
FR2799776A1 (fr) | Unite de commande pour engin de chantier | |
FR3016488A1 (fr) | Procede et dispositif de commande d'un levier de manœuvre d'un vehicule | |
US4120233A (en) | Hydraulic control system for at least two consumers |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): CA JP KR MX RU US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE CH DE DK ES FI FR GB GR IE IT LU MC NL PT SE |
|
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 1996930228 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 2231340 Country of ref document: CA Ref country code: CA Ref document number: 2231340 Kind code of ref document: A Format of ref document f/p: F |
|
WWE | Wipo information: entry into national phase |
Ref document number: 09029252 Country of ref document: US |
|
WWP | Wipo information: published in national office |
Ref document number: 1996930228 Country of ref document: EP |
|
WWR | Wipo information: refused in national office |
Ref document number: 1996930228 Country of ref document: EP |
|
WWW | Wipo information: withdrawn in national office |
Ref document number: 1996930228 Country of ref document: EP |