WO2002086638A2 - Verfahren zum optimieren der auslegung von motorischen antriebsstrecken - Google Patents
Verfahren zum optimieren der auslegung von motorischen antriebsstrecken Download PDFInfo
- Publication number
- WO2002086638A2 WO2002086638A2 PCT/EP2002/001319 EP0201319W WO02086638A2 WO 2002086638 A2 WO2002086638 A2 WO 2002086638A2 EP 0201319 W EP0201319 W EP 0201319W WO 02086638 A2 WO02086638 A2 WO 02086638A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- data
- drive
- real load
- load data
- real
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000013461 design Methods 0.000 title claims abstract description 17
- 238000003860 storage Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000009826 distribution Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 7
- 239000000314 lubricant Substances 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 239000011810 insulating material Substances 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 239000012080 ambient air Substances 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000007620 mathematical function Methods 0.000 description 1
- 230000002028 premature Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Classifications
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the invention relates to a method for optimizing the design of motor drive lines according to the preamble of claim 1.
- motor drive sections such as the drive unit for a machine tool
- the computer system calculates the parameters of the drive components, for example the motor power, the dimensioning of the bearings of the drive shaft, the transmission ratio of a gearbox connected to the motor, etc., on the basis of a predetermined data set and representing the load on the drive components.
- the performance and the lifespan of the drive section depends on the conformity of the drive system, which is generally the responsibility of the operator Drive path specified data record for the load of the drive components with the real load data.
- the operator specifies that the drive line is used around the clock in three-shift operation and the motor component is switched on and off at fixed cycle times. Accordingly, from
- Manufacturer of the drive line dimensioned the drive components, for example with regard to engine power or engine cooling. If the specified data record does not match the real load data, there is an increased maintenance effort for the drive line or even premature failure.
- the invention is based on the problem of providing a method for optimizing the design of motorized drive lines, by means of which the disadvantages of the prior art are overcome.
- the method according to the invention is intended to ensure an optimal design of the drive lines with regard to the actual loads during operation, thereby increasing the service life of the drive line and / or reducing the maintenance effort.
- the debit data are transmitted electronically continuously or at regular, predeterminable and / or event-specific time intervals, for example in the form of digital data, which is encoded if necessary and therefore cannot be read by unauthorized persons.
- the drive lines according to the invention include, in particular, drive lines for industrial plants, such as production machines, packaging machines, machine tools, etc.
- Real load data are, for example, the torque acting on the output shaft or the drive shaft, the occurring bearing forces, the ambient temperature, the ambient air humidity, the fill level of the lubricant, the lubricant temperature, the tightness of the seal etc. their maximum and minimum values are also recorded using appropriate sensors.
- the recording can be recorded over individual work cycles, days, weeks and months or even over the entire life of the drive line or the manufacturing device in which the drive line is integrated.
- the motor drive section can also be designed by the method according to the invention in such a way that, for example, by evaluating the real load data, it can be determined whether certain drive components are loaded above or below average and whether corresponding loads can be given to other drive components or taken over by them can be.
- a required travel path can be provided in different ways and in particular with the inclusion of different drive components. You find that a certain one
- Drive component is so heavily loaded with a certain travel path that this particular drive component limits the total life of the drive path and thus the robot, this particular travel path can be provided by including other drive components that are less loaded.
- This correction or optimization can take place with an installed drive line, possibly also during the operation of the drive line, and / or with the design of the next drive line for the same or a comparable application.
- the real load data is preferably recorded directly on the drive line while the automatic determination of the data set used in the calculation of the parameters and / or the calculation of the parameters takes place at a remote location, for example in a server computer of the supplier of the drive components.
- the method according to the invention and the possible monitoring of operation for example, also determine the service life or remaining service life, the maintenance intervals or the power reserve of the drive line or individual drive components and guarantee the customer.
- findings on damage accumulation from other technical areas, such as materials science can be used, as described in HAIBACH E .: "Modified linear damage accumulation hypothesis to take into account the decrease in fatigue strength with progressive damage, Techn. Mitt. Nr. TM 50/70, Lab. for operational strength, Darmstadt 1970.
- the remaining service life of a machine can be determined, for example, using mathematical functions, the complexity and / or parameters of which depend on the application.
- the damage accumulation hypothesis assumes, among other things, that a "high disturbance variable” damages a machine many times (X times) or reduces its remaining service life compared to a comparatively "small disturbance variable”.
- the computing system for designing the motor drive line and the drive line in operation are preferably located at different locations.
- the drive line is located in a manufacturing facility of the operator, while the computing system is located at the location of a manufacturer of the drive line.
- the real load data is transmitted electronically, preferably via a data network.
- the data network can be a public data network, for example the internet, or a non-public data network, for example an intranet of a company
- the data can in any case also be transmitted wirelessly in sections, for example within the place of use of the drive line via a wireless infrared connection to a central receiving point in the production hall, or from the roof of the production hall via a terrestrial or satellite-based mobile radio connection directly to the location of the drive line manufacturer , Existing national or international mobile phone networks can also be used for this.
- the representative data record is preferably located at the location of the
- Computer system automatically determined by linking an output data record already stored in the computer system with the real load data.
- a predeterminable computer program can be used for the automatic determination.
- the output data record that has already been stored can either be the data record specified by the operator of the drive section or a data record that has already been optimized, including previously determined real load data.
- the previously valid stored output data record can either be overwritten by the newly calculated representative data record or can be saved with a time stamp to record the history and development of the respectively valid data records.
- the link between the real load data and the output data record is preferably carried out using a weighting function.
- the weighting function can, for example, be an empirically determined statistical function, according to which, for example, an outlier in the real load data due to a special load on the drive line or a machine damage is not unduly strong on that in the Delivery of future drive lines underlying the representative data record.
- the weighting function can be a type of low-pass function, according to which changing real load data only fully penetrate the representative data record with a certain time delay.
- the data set calculated using real exposure data is preferably individualized or identified in accordance with the origin of the real exposure data.
- This data record can thus be assigned to an operator, a specific type of drive line, the type of use and / or the location of the drive line, etc.
- a drive line for an operator A for the “packaging machine” type of use at a “Germany” location can, over time, use the method according to the invention to produce a completely different data set for the load on the drive components than a corresponding drive line for the same operator, the same type of use, but the location "Brazil".
- a knowledge base is built up at the location of the computer system, which depicts very precisely the actual requirements for the drive line and its drive components depending on the boundary conditions “type of use”, “place of use”, etc.
- the data stored in this knowledge base is more accurate than that
- the real load data are temporarily stored on the drive line in operation and can be displayed and / or read out there if necessary, these data are also available to the operator if desired or, for example, to a service technician working on the drive line.
- the transmission of the temporarily stored real load data to the computer system can either be controlled by the computer system, for example when designing a new drive line, or can be controlled by the drive line, for example at predefinable time intervals, after a predefinable number of load cycles, etc.
- a typical field of application for the method according to the invention is the optimization of the design of drive lines with at least one motor and / or at least one gear, in many applications an electric motor is used.
- Gearboxes are, for example, the torque that occurs on the shaft, the bearing forces that occur, a possibly occurring tilting moment, the rotational speed, the ambient temperature, the winding temperature, etc.
- the operator of the drive system can electronically know the knowledge base built up at the location of the computer system regarding the actually occurring loads and the resulting required parameters of the drive components and / or the automatically determined data set
- the computer system can make a suggestion for a more real data record stored in the computer system, independently of or dependent on an output data record specified by the operator, regarding the load on the drive components Operator accepted, modified or rejected.
- the communication between the operator and the computer system is preferably carried out via a data network, for example via the Internet.
- the data can be transmitted both wirelessly and by wire.
- the locations of the computer system, the operator and / or the manufacturer of the drive lines can be spatially as far apart as long as appropriate communication is possible at times from an electronic data network.
- Fig. 1 shows an overview of a possible configuration for
- Fig. 3 shows a given by the operator of the drive line
- FIG. 4 shows the associated frequency distribution of the duty cycle
- FIG. 5 shows the associated frequency distribution of the pause duration
- FIG. 6 shows the real profile of the torque
- FIG. 7 shows the associated frequency distribution of the duty cycle
- FIG. 8 shows the associated frequency distribution of the pause duration.
- FIG. 1 shows an overview of a possible configuration for executing the method according to the invention for optimizing the design of motor drive sections 1 with a computing system 3 having storage means 2 for calculating parameters of drive components 4, 5 using a predefinable one and the load on the drive components 4 , 5 representing data set 6.
- the real load data 7 are recorded on installed and in operation drive lines 1 by means of corresponding sensors 8, 9 and transmitted electronically to the computer system 3.
- the data set 6 used in the calculation of the parameters is included with the recorded real load data 7 automatically determined (see Fig. 2).
- the drive section 1 comprises a motor 4 and a transmission 5.
- a speed sensor 9 detects the speed of the drive shaft 11 and stores these measured values over time in a storage module 12 located on the drive section 1.
- a force sensor 8 arranged on the bearing 13 of the drive shaft 11 detects the bearing forces and / or the torque that occur over time and also stores them in the memory module 12. Via a mobile radio or cell phone antenna 14 and / or via
- these real load data 7 are transmitted via a data network 16, for example the Internet, to the computer system 3, which may be very distant in space.
- the first location 17 at which the drive section 1 is in operation is to be represented by a dashed outline.
- the second location 18, at which the computing system 3 is located, is to be represented by a dashed outline.
- the first location 17 can be, for example, a production site of an operator of the drive line 1.
- the second location 18 can be, for example, the computer center of a manufacturer of the drive line 1.
- a third location 19 is represented by a further dashed outline, which for example represents the construction center of the operator of the drive route 1.
- the three locations 17, 18, 19 can optionally also be located on three different continents.
- the second location 18 of the manufacturer of the drive line 1 can be located in Germany
- the third location 19 of the construction center of the operator of the drive line 1 in the USA and the first location 17 of the use of the drive line 1 in Brazil.
- all three locations 17, 18, 1 are temporarily electronically connected to one another via the data network 16.
- the 10 data transmitted by the first location 17 are stored on the storage means 2, in particular the data record 6, which is automatically determined taking into account the real load data 7. After its calculation, this can also be transmitted back 20 to the first location 17, are displayed in particular on a screen 21 there.
- the data record 6 can be transmitted to the third location 19 upon corresponding request 22, in particular can be displayed on a further screen 24 there. This is particularly advantageous if, at the third location 19, a designer of the operator of the drive line 1 designs a new drive line for a similar or identical location, type of use, etc. or has to design the associated drive components 4, 5.
- the data record 6 and in particular the parameters for the drive components 4, 5 to be calculated using the data record 6 then correspond to the expected real load case.
- FIG. 2 shows the diagram for determining the representative data record 6 by linking an output data record 25 already stored in the computer system 3 with the real load data 7.
- the real load data 7 comprise a first data field 26, which identifies or individualizes the operator, the type of use, the place of use, etc. of the associated drive section 1 (“X”).
- the second data field 27 of the real load data 7 comprises the real load data such as, for example, torque , Bearing force, temperature, etc. ("R”), in each case their temporal course and / or their minimum and maximum values.
- the real load data 7 are weighted with a weighting function 28, for example depending on the length of the time period
- the weighted real load data are then linked to the previously applicable data record 25, 6.
- the previously valid data record 25, 6 can also simply be replaced by the weighted real load data 7 or even by the real load data 7 itself. In many applications, however, it will be desirable that, for example, an outlier in the real load data 7 does not immediately and completely impact on the representative data set 6 due to a special load or damage to the drive route. In this respect, the
- Link 29 a type of low-pass function may be desirable, such that even if the real load data 7 changes abruptly, the representative data record 6 only gradually adapts to these changed circumstances.
- the associated time constant with which this adjustment is made can be specified.
- the representative data record 6 can be stored on the storage means 2, can be displayed on a screen 30 of the computing system 3 and / or can be forwarded to the computing system 3 for calculating the parameters of the drive components 4, 5. These parameters can then in turn be forwarded, for example, to the further screen 24, which can also be set up remotely from the computing system 3.
- the operator of the drive section 1 assumes that each duty cycle of, for example, 3 minutes is followed by a pause of 2 minutes.
- the associated frequency distribution h D for the on-time t D therefore has a single peak at 3 minutes, as shown in FIG. 4.
- the associated frequency distribution h P of the pause duration t P has a single peak with the pause duration of 2 minutes, as shown in FIG. 5.
- Manufacturers of the drive section 1 dimension the drive components, in particular the motor 4, the transmission 5 and / or the sensors 8, 9 accordingly, for example with regard to insulating materials, bearing sizes, cooling measures, etc. Whether the predetermined torque curve M ⁇ (t) as in FIG. 3 also shown during operation of the drive section 1 has a decisive influence on the service life or ease of maintenance of the drive section 1.
- the pauses between the on-times are 1 minute in two thirds of the cases and 3 minutes in the remaining third of the cases.
- a corresponding frequency distribution h ⁇ for the pause duration t ⁇ is shown in FIG. 8.
- the real actual torque curve M R over time t results, for example, in a different temperature profile for the
- the motor cools down more during the longer breaks, and then heats up more during the three switch-on periods that run in succession. This leads to an increased thermal shock load on the winding insulation.
- the manufacturer of the drive section 1 will endeavor to compensate for this by using correspondingly higher-quality insulating materials in order to continue to ensure a long service life of the drive section 1 and a high level of maintenance friendliness with long maintenance intervals.
- FIGS. 3 to 8 The differences shown in FIGS. 3 to 8 between a data set M ⁇ (t) specified by the operator of the drive section 1 and a real data set M R (t) representing the actual load are shown only by way of example on the basis of the torque curve M over time t , Similarly, others can for the Drive section 1 relevant data are recorded, for example the occurring bearing forces, rotational speeds, ambient humidity, etc.
- sensors 8, 9 for force / torque and speed specified in the exemplary embodiment sensors for tilting moment, bearing force, speed, acceleration, temperature, leakage, tightness, lubricant contamination, abrasion, etc. can be provided additionally or alternatively, depending on the application.
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- General Engineering & Computer Science (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP02714153A EP1379926A2 (de) | 2001-04-20 | 2002-02-08 | Verfahren zum optimieren der auslegung von motorischen antriebsstrecken |
JP2002584098A JP2004524797A (ja) | 2001-04-20 | 2002-02-08 | 電動機駆動機構の設計を最適化する方法 |
US10/474,973 US20040210352A1 (en) | 2001-04-20 | 2002-02-08 | Method for optimising the desing of motor drive sections |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10120943A DE10120943B4 (de) | 2001-04-20 | 2001-04-20 | Verfahren zur Bestimmung der Auslegung und zur Optimierung der Lebensdauer |
DE10120943.6 | 2001-04-20 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2002086638A2 true WO2002086638A2 (de) | 2002-10-31 |
WO2002086638A3 WO2002086638A3 (de) | 2003-09-12 |
Family
ID=7683111
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2002/001319 WO2002086638A2 (de) | 2001-04-20 | 2002-02-08 | Verfahren zum optimieren der auslegung von motorischen antriebsstrecken |
Country Status (5)
Country | Link |
---|---|
US (1) | US20040210352A1 (de) |
EP (1) | EP1379926A2 (de) |
JP (1) | JP2004524797A (de) |
DE (1) | DE10120943B4 (de) |
WO (1) | WO2002086638A2 (de) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004028559A1 (de) | 2004-06-15 | 2006-01-05 | Abb Patent Gmbh | Verfahren und System zur Verschleißabschätzung von Achsen eines Roboterarmes |
DE102004028565A1 (de) * | 2004-06-15 | 2006-01-05 | Abb Patent Gmbh | Verfahren und System zur Ermittlung eines Wartungsbedarfs |
DE102004028557A1 (de) * | 2004-06-15 | 2006-02-16 | Abb Patent Gmbh | Verfahren und System zur Zustandsbewertung von wenigstens einem Achsgelenk |
DE102006002887A1 (de) * | 2006-01-20 | 2007-08-09 | Logicdata Electronic & Software Entwicklungs Gmbh | Elektrisch verstellbares Möbelstück und Verfahren zum Warten eines elektrisch verstellbaren Möbelstücks |
DE102007017614A1 (de) | 2007-04-12 | 2008-10-16 | Wittenstein Ag | Verfahren zum optimalen Betreiben von Getrieben |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6122565A (en) * | 1997-02-20 | 2000-09-19 | The Minster Machine Company | Press production monitoring system and method |
WO2001013187A2 (en) * | 1999-08-13 | 2001-02-22 | Clark Equipment Company | Diagnostic and control unit for power machine |
US6198246B1 (en) * | 1999-08-19 | 2001-03-06 | Siemens Energy & Automation, Inc. | Method and apparatus for tuning control system parameters |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5113104A (en) * | 1989-10-19 | 1992-05-12 | General Electric Company | Structured product dynamoelectric machine |
DE19729212C2 (de) * | 1997-07-09 | 2002-01-24 | Forsch Transferzentrum Ev An D | Verfahren zur optimierten Steuerung von Verbrennungsmotoren |
US6119074A (en) * | 1998-05-20 | 2000-09-12 | Caterpillar Inc. | Method and apparatus of predicting a fault condition |
-
2001
- 2001-04-20 DE DE10120943A patent/DE10120943B4/de not_active Expired - Fee Related
-
2002
- 2002-02-08 JP JP2002584098A patent/JP2004524797A/ja active Pending
- 2002-02-08 US US10/474,973 patent/US20040210352A1/en not_active Abandoned
- 2002-02-08 WO PCT/EP2002/001319 patent/WO2002086638A2/de not_active Application Discontinuation
- 2002-02-08 EP EP02714153A patent/EP1379926A2/de not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6122565A (en) * | 1997-02-20 | 2000-09-19 | The Minster Machine Company | Press production monitoring system and method |
WO2001013187A2 (en) * | 1999-08-13 | 2001-02-22 | Clark Equipment Company | Diagnostic and control unit for power machine |
US6198246B1 (en) * | 1999-08-19 | 2001-03-06 | Siemens Energy & Automation, Inc. | Method and apparatus for tuning control system parameters |
Also Published As
Publication number | Publication date |
---|---|
DE10120943B4 (de) | 2005-02-10 |
JP2004524797A (ja) | 2004-08-12 |
US20040210352A1 (en) | 2004-10-21 |
WO2002086638A3 (de) | 2003-09-12 |
DE10120943A1 (de) | 2002-11-14 |
EP1379926A2 (de) | 2004-01-14 |
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