WO1999061805A1 - Systeme pour determiner le deplacement - Google Patents

Systeme pour determiner le deplacement Download PDF

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Publication number
WO1999061805A1
WO1999061805A1 PCT/EP1999/002550 EP9902550W WO9961805A1 WO 1999061805 A1 WO1999061805 A1 WO 1999061805A1 EP 9902550 W EP9902550 W EP 9902550W WO 9961805 A1 WO9961805 A1 WO 9961805A1
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WO
WIPO (PCT)
Prior art keywords
force
sensor
spring
control
fluid
Prior art date
Application number
PCT/EP1999/002550
Other languages
German (de)
English (en)
Inventor
Reiner Bartholomäus
Original Assignee
Mannesmann Rexroth 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 Mannesmann Rexroth Ag filed Critical Mannesmann Rexroth Ag
Publication of WO1999061805A1 publication Critical patent/WO1999061805A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
    • 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
    • F15B13/0401—Valve members; Fluid interconnections therefor
    • F15B13/0402—Valve members; Fluid interconnections therefor for linearly sliding valves, e.g. spool valves
    • 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
    • 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
    • F15B13/0401—Valve members; Fluid interconnections therefor
    • F15B2013/0409—Position sensing or feedback of the valve member

Definitions

  • the invention relates generally to a system for determining the
  • a control piston in a valve for example a control piston in a valve, a piston in a hydraulic cylinder, an adjusting element in one
  • Hydraulic pump or the like To determine.
  • displacement sensors To determine the path of a measurement object, displacement sensors have so far been used which detect the path of the measurement object as the measured variable to be determined and convert it into an electrical measurement signal proportional to the path.
  • inductive displacement sensors are used to determine the stroke of control pistons in proportional and servo valves, which either directly or depending on the valve type indirectly detect and convert into an electrical measurement signal proportional to the stroke.
  • the control piston is actuated directly by means of a stroke-controlled proportional magnet. Activation of the proportional magnet results in a stroke of the control piston which is proportional to the measured variable of the electrical control signal.
  • the position of the control piston can be indirectly detected via the stroke of the magnet armature in the proportional magnet and can be fed back to an electronic control device as an electrical signal for position control.
  • the control piston is actuated hydraulically. In these cases, the stroke of the control piston is measured directly using an inductive displacement sensor.
  • Inductive displacement sensors For measuring the stroke of the magnet armature in the case of the single-stage, directly controlled proportional directional valve or the stroke of the Control pistons in the case of the pilot-controlled multi-stage proportional or servo valves, as mentioned above, mostly use inductive displacement sensors.
  • Inductive displacement sensors have an induction coil system excited by AC voltage and a plunger armature coupled to the magnet armature or the control piston. If the plunger is displaced relative to the coil system as a result of actuation of the magnet armature or control piston, the position of the control piston can be determined from the stroke-dependent influencing of the inductance of the AC-excited coil system.
  • a displacement sensor with a Hall generator can be used to measure the stroke of the magnet armature or the control piston, in which the magnet armature or the control piston displaces a control magnet relative to the Hall generator, as a result of which the flux density of the magnetic field which passes through the Hall generator changes.
  • the position of the control piston can be determined from the Hall voltage tapped on the Hall generator.
  • Hall generator sensors can, however, also use ohmic sensors with linear potentiometers, galvanomagnetic sensors with field plates and analog or digital optoelectronic sensors for displacement measurement. Since the functional principle of such sensors is known to the person skilled in the art, a detailed explanation of these sensors is omitted here.
  • the stroke of a test object which can be up to several 100 mm, but can be detected by means of one of the sensors listed above, it is necessary that the sensors are dimensioned at least so large that they the maximum stroke that the test object and thus which can experience moving plunger, control magnet or the like moving in the sensors.
  • the object of the invention is therefore to remedy this disadvantage by providing a system for determining the path of a measurement object which is movable in the system and which is distinguished by a small size compared to the conventional systems.
  • the system according to claim 1 is essentially based on the principle that to determine the position or the path of a movable object in the system, for example the path of a control piston of a valve, not the path actually to be determined, but the force that is detected during the movement of the measurement object is transmitted to a force sensor via a mechanically deformable coupling element.
  • the known relationship between the force applied to the coupling element and the resulting deformation of the coupling element, i.e. from the force-displacement characteristic of the coupling element, the distance covered by the measurement object can be determined.
  • the actual size to be determined i.e. the path, as was previously customary, for example with the sensors described above, but rather a variable arising as a result of the movement of the measurement object, i.e. the force that the test object exerts on the force sensor.
  • Force sensors can be used as the force sensor.
  • Force sensors based on the Hall generator principle have proven to be particularly advantageous.
  • the coupling element picks up the path of the measurement object due to its mechanical deformation, and conventional force sensors also have a smaller size than displacement sensors, the system according to the invention achieves a significant reduction in the size of the entire system compared to conventional systems with displacement sensors.
  • the mechanically deformable coupling element arranged between the measurement object and the force sensor is advantageously characterized by a linear force-displacement characteristic. This can be achieved in a simple manner, for example, by means of a spring body working in the Hooke range, such as a helical spring.
  • the deformation path of the coupling element and thus the path of the coupling element can be determined from the linear relationship between the force exerted by the measurement object on the coupling element during its movement and which is detected by the force sensor, and from the linear force-displacement characteristic curve specific for the coupling element Determine the test object according to Hooke's law.
  • the force detected by the force sensor during movement of the measurement object is converted by the sensor element into an electrical signal which is at the same time proportional to the path of the measurement object.
  • the deformation of the coupling element can be caused by both a compressive force and a tensile force.
  • the system according to the invention is particularly advantageous in fluid technology, ie in pneumatics or hydraulics.
  • the system includes a fluidic device with a fluid space in which a generally linearly movable measurement object, the force sensor and the mechanically deformable coupling element arranged between the force sensor and the measurement object are arranged.
  • the force sensor forms the link between the fluid space and one Non-fluid space, for example the external environment of the fluid power device.
  • the system according to the invention can be part of a control chain in which the position of the measurement object in the fluid technology device is determined.
  • the system according to the invention can also be part of a control loop in which the path of the measurement object in the fluid technology device is determined and returned to control electronics in order to make a target-actual comparison and, if necessary, to correct the position of the measurement object in the fluid technology device.
  • the path determined via the force is returned as an electrical signal to the control device of the fluid power device.
  • the principle according to the invention can even be applied to highly sensitive control loops, because the natural frequency range of the mechanical components of the fluid power device can be determined by a suitable coordination of the mechanical components of the fluid power device so that the natural vibration does not affect the control accuracy.
  • Fluid power devices in the sense of the invention include all valves, e.g. Directional control valves, pressure valves and flow control valves, but also control devices such as Hydraulic cylinder.
  • the stroke of the control piston can be determined via the force that the magnetic armature of the proportional magnet exerts on the force sensor through the coupling element.
  • the stroke of the control piston can be determined via the force which the control piston exerts on the force sensor through the coupling element.
  • the stroke of the control piston can be determined via the force which the control piston exerts on the force sensor through the coupling element.
  • the stroke of the control piston in the hydraulic cylinder can be determined via the force which the piston exerts on the force sensor through the coupling element.
  • a force sensor generally consists of an elastically deformable mechanical part that absorbs the force, ie one Sensor element, and an electrical part that converts the force absorbed into an electrical signal, ie a sensor element.
  • a fluid pressure-independent conversion of the force absorbed into an electrical signal proportional to the force it is advantageous not to expose the electrical part of the force sensor, ie the sensor element, which is sensitive to fluid pressure and fluid temperature fluctuations in the fluid space, to the fluid pressure.
  • This can be achieved in that the sensor element and the sensor element are separated from one another in a fluid-tight manner, so that the sensor element is arranged in the fluid space and the sensor element is arranged in the non-fluid space.
  • a suitable structural design of the transducer element can also ensure that the influence on the transducer element resulting from fluid pressure and fluid temperature fluctuations in the fluid space is minimized.
  • Fluid power devices often have a spring which exerts a compressive or tensile force on the measurement object, for example the control piston mentioned above, and thus determines the position of the measurement object in the fluid technology device.
  • This spring is usually referred to in the literature as the "control spring”.
  • the control spring which is already present in the fluid technology device, can take over the function of the mechanically deformable coupling element, as a result of which an additional coupling element is no longer required, so that the structure of the entire system and thus the costs related to production and manufacturing technology are reduced.
  • an additional force measuring spring can also take over the function of the coupling element if a control spring is already present.
  • This force measuring spring can for example be arranged coaxially within the control spring.
  • the accuracy of the force measurement i.e. adjust the sensitivity of the force sensor in a simple manner to the respective requirements and areas of application.
  • the spring body is supported, for example the Control spring or the force measuring spring, for the sake of simplicity via a spring plate on the sensor element of the force sensor.
  • the part of the force sensor located in the fluid space and the sensor element can be axially connected to the control spring or coaxially within the control spring be arranged. The latter arrangement allows the overall size of the system to be reduced even more.
  • a further advantageous embodiment of the system according to the invention results if the sensor element of the force sensor has a centrally arranged cone section, i.e. a conical recess or a conical projection, and the spring plate a conical section which is adapted to the conical section of the sensor element, i.e. has a conical projection or a conical recess. Since the force applied to the transducer element in this case takes place via this conical section, the measurement of the force can be carried out largely free of lateral forces or obliquely acting forces occurring in the fluid space.
  • the sensor element of the force sensor is designed like a membrane for the sake of simplicity.
  • constructive measures are provided on the membrane-like sensor element and / or on the force sensor, which enable fluid pressure compensation between the two sides of the membrane-like sensor.
  • the membrane-like sensor element can have one or more fluid openings through which the fluid can flow from one side to the other side of the membrane-like sensor element when the object to be measured moves, so that the same fluid pressure is present on both sides.
  • a fluid channel can be formed in the force sensor, which creates a fluid connection between the sides in front of the membrane-like sensor element, so that fluid pressure compensation is possible.
  • the transducer element can also be constructed in such a way that it only responds from a certain force, ie it remains largely unaffected by a weak change in fluid pressure in the fluid space.
  • any sensor that is based on an ohmic, inductive, optoelectronic or galvanomagnetic measuring principle can be used as the force sensor.
  • a force sensor is preferably used which has a control magnet which can be actuated by the pickup element and a Hall generator.
  • the membrane-like sensor element deforms under the influence of the force transmitted via the coupling element and displaces the control magnet connected to the sensor element relative to the Hall generator, as a result of which the flux density of the magnetic field which passes through the Hall generator changes.
  • the Hall voltage tapped on the Hall generator is proportional to the force absorbed.
  • the stroke of the test object can be determined from the measured force, which is output as the electrical signal, via the known force-deformation path relationship of the coupling element.
  • FIG. 1 shows an embodiment of the system according to the invention with a 4/3-way proportional directional valve and a force sensor
  • FIG. 2a shows a schematic representation of a Hall generator
  • Fig. 3 shows a modification of the system shown in Fig. 1;
  • Fig. 4 shows a further modification of the system shown in Fig. 1.
  • the system has a pilot-controlled 4/3-way proportional directional valve and a force sensor based on the Hall generator principle.
  • the system according to the invention is not restricted to this exemplary embodiment, but is generally used in cases in which it is fundamentally possible and expedient to determine the path of a measurement object by means of a force sensor.
  • the 4/3 proportional directional control valve shown schematically in FIG. 1 consists of a pilot valve 10 and a main valve 30 which can be actuated by the pilot valve 10.
  • the pilot valve 10 is used to control the main valve 30 and has a pilot valve housing 11, two proportional magnets 12 and 13 attached to the pilot valve housing, two pilot pistons 14 and 15 and two compression springs 16 and 17.
  • the proportional magnet 12 serves to actuate the pilot piston 14, which is axially displaceable in a housing recess of the pilot valve housing 11, against the spring force of the compression spring 16.
  • the proportional magnet 13 serves to actuate the axially displaceably arranged in a further housing projection of the pilot valve housing 11 Pilot piston 15 against the spring force of the compression spring 17.
  • Fluid channels 18, 19, 20 and 21 are formed in the pilot valve housing 11, as shown in FIG. 1.
  • a fluid channel 22 is formed in the pilot piston 14, which, depending on the position of the pilot piston 14, connects the fluid channel 20 either to the fluid channel 18 or to the fluid channel 19.
  • a fluid channel 23 is formed in the pilot piston 15 and, depending on the position of the pilot piston 15, connects the fluid channel 21 either to the pressure fluid channel 18 or to the fluid channel 19.
  • the main valve 30 has one in a housing recess
  • Main valve housing 31 arranged axially displaceable
  • Main control piston 32 a control spring 34 arranged in a spring chamber 33 on an end face of the main control piston 32, which the
  • a force sensor 41 is screwed into this bore 31a from the outside, on which the control spring 34 is supported.
  • the spring constants of the two control springs 34 and 36 are of the same size.
  • a pump connection P In the main valve housing 31 there are also a pump connection P, a fluid channel 37 connected to the pump connection P and the fluid channel 18 of the pilot valve 10, two tank connections Ti and T 2 , one with these tank connections Ti and T 2 and the fluid channel 19 of the pilot valve 10 connected fluid channel 38, two consumer ports A and B, which, depending on the position of the main control piston, can be connected to the pump port P or one of the two tank ports T- * and T 2 , a fluid channel 39 which connects the fluid channel 20 of the pilot valve 10 connects to the spring chamber 33, and a fluid channel 40, which connects the fluid channel 21 of the pilot valve 10 to the spring chamber 35, is formed.
  • the spring chamber 33 forms a fluid chamber in the invention
  • Proportional magnets 12 and 13 the pilot pistons 14 and 15 are in the position shown in FIG. 1.
  • the spring chambers 34 and 35 are relieved since the fluid supply from the pump connection P to the
  • the fluid pressure in the spring chamber 34 is proportional to the direct current fed into the proportional magnet and the magnetic force generated thereby.
  • the main control piston 32 is moved by a path proportional to these quantities, which in turn generates a fluid volume flow proportional to these quantities at the consumer connection A.
  • Reference numeral 41 denotes a force sensor which, as already mentioned above, is screwed into the bore 31a of the main control valve housing 31 in a fluid-tight manner.
  • the control spring 34 is supported on the sensor element 42 of the force sensor 41 via a spring plate 50.
  • the force sensor 41, the spring plate 50 and the control spring 34 are arranged one after the other in this order.
  • the force sensor 41 essentially consists of a housing 44, which has a housing cutout 45 coaxial with the control spring 34 on the right-hand end face according to FIG. 2 and a likewise coaxial with the control spring 34 on the left-hand end face according to FIG.
  • the housing cutout 45 and the housing cutout 48 are designed to be separate from one another in a fluid-tight manner, as shown in FIG. 2.
  • the sensor element 42 is attached to the housing 44 in a membrane-like manner above the housing recess 45.
  • the housing cutout 45 is dimensioned at least so large that the control magnet 47 can move unhindered in the case of an axial displacement in the housing cutout 45 caused by pressure loading of the sensor element 42.
  • the Hall generator 43 is produced from an essentially rectangular thin semiconductor plate 70 and generates a Hall voltage U H from a control current I and a magnetic field B perpendicularly passing through the control current I. If a voltage is applied to two opposite longitudinal sides 71, 72 of the semiconductor wafer, the so-called control current I flows between the two longitudinal sides 71, 72 of the semiconductor wafer 70. The magnetic field B produced by the control magnet 47 passes through the Hall generator 43 perpendicular to that between the two longitudinal sides 71, 72 of the semiconductor chip 70 flowing control current I, whereby the charge carriers are pushed due to the Lorenz force to one of the other two opposite sides 73, 74 of the semiconductor chip 70.
  • the so-called Hall voltage U H can thereby be tapped on the two other longitudinal sides 73, 74 of the semiconductor die 70. This increases with the strength of the control current I and the magnetic flux density B. If the proportional magnet on the right in accordance with FIG. 1 is now supplied with a direct current, then the main control piston 32 is displaced to the left in accordance with FIG. 1, as a result of which the control spring 34 is displaced by a distance which is proportional to the force exerted by the main control piston 32 on the control spring 34 , is squeezed. At the same time, the control magnet 47 is pushed towards the Hall generator as a result of a pressure load on the sensor element 42 caused by force transmission, as a result of which the magnetic flux density through the Hall generator 43 increases. The increased Hall voltage U H tapped thereby at the Hall generator 43, which acts as an electrical signal in the system according to the invention, is proportional to the force absorbed at the sensor element 42.
  • fluid openings 49 are formed in the transducer element, through which the fluid located in the fluid space can flow from the right side of the diaphragm-like transducer element in FIG. 2 to the left side, so that the same on both diaphragm sides Fluid pressure is present.
  • the transducer element 42 of the force sensor 41 has a centrally arranged conical projection 51 and the spring plate 50 has a conical depression 52 which is adapted to the conical projection 51 of the transducer element 42.
  • FIG. 3 shows a modification of the system described above for determining the path of the main control piston 32 of the 4/3-way proportional directional valve. 1 and FIG. 2, the force sensor 41, the spring plate 50 and the control spring 34 are arranged one after the other in this order, with this modification the part of the force sensor 41 in the fluid space and the spring plate 50 on which the Control spring 34 supports, partially arranged within the control spring 34, which reduces the overall length of the entire system.
  • FIG. 4 shows a further modification of the system according to the invention for determining the path of the main control piston 32.
  • the control spring 34 which acts on the main control piston 32 with a compressive force to the right in FIG. 4
  • Force measuring spring 60 is arranged, which in this case takes over the function of the mechanically deformable coupling element and which is supported via the spring plate 50 on the sensor element 42 of the force sensor 41.
  • the accuracy of the force measurement i.e. adapt the sensitivity of the force sensor to the respective requirements and areas of application.
  • the force sensor can only determine the stroke of the main control piston 32 which is caused as a result of actuation of the proportional magnet 13.
  • a second force sensor can be used, which is arranged opposite the force sensor 41 on the other side of the main control piston 32 and detects the pressure force transmitted via the control spring 36.
  • a single force sensor is basically sufficient to activate one or the other electromagnet to measure the path of the main control piston 32.
  • Both control springs 34 and 36 must then be preloaded in the neutral position of the main control piston 32 shown. Then, when the main control piston 32 is shifted from the neutral position shown in one direction, the control spring 34 is tensioned to a greater extent and when it is shifted in the other direction, it is relaxed more.
  • the force sensor 41 then senses a change in force.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

L'invention concerne un système permettant de déterminer la course d'un objet à mesurer, placé mobile dans ledit système, par exemple le piston de commande (32) d'une soupape (10), à l'aide d'un capteur de force (41) disposé fixe dans le système, qui détecte, par l'intermédiaire d'un élément d'accouplement à déformation mécanique disposé entre l'objet à mesurer et le détecteur de force, qui présente une caractéristique force-course déterminée, par exemple un ressort de réglage (34) à constante déterminée, une force induite par un mouvement de l'objet à mesurer et la transforme en un signal électrique, proportionnel à la course parcourue par l'objet mesuré, par exemple la course du piston de commande (32).
PCT/EP1999/002550 1998-05-26 1999-04-15 Systeme pour determiner le deplacement WO1999061805A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19823529A DE19823529A1 (de) 1998-05-26 1998-05-26 Wegbestimmungssystem
DE19823529.1 1998-05-26

Publications (1)

Publication Number Publication Date
WO1999061805A1 true WO1999061805A1 (fr) 1999-12-02

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WO (1) WO1999061805A1 (fr)

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DE20010833U1 (de) 2000-06-17 2000-09-07 Krupp Drauz Ingenieurbetrieb GmbH, 09337 Hohenstein-Ernstthal Prüfvorrichtung zur Kontrolle auf Vorhandensein von ferromagnetischen Bauteilen
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2837281A1 (fr) * 2013-08-14 2015-02-18 Usines CLAAS France Dispositif de noeuds pour une presse à balles

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