WO2006122339A1 - Mecanisme d'entrainement a commande fluidique et procede de commande correspondant - Google Patents

Mecanisme d'entrainement a commande fluidique et procede de commande correspondant Download PDF

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Publication number
WO2006122339A1
WO2006122339A1 PCT/AT2006/000193 AT2006000193W WO2006122339A1 WO 2006122339 A1 WO2006122339 A1 WO 2006122339A1 AT 2006000193 W AT2006000193 W AT 2006000193W WO 2006122339 A1 WO2006122339 A1 WO 2006122339A1
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WO
WIPO (PCT)
Prior art keywords
movement
time
component
control
switching
Prior art date
Application number
PCT/AT2006/000193
Other languages
German (de)
English (en)
Inventor
Christian Mersnik
Klaus Grausgruber
Original Assignee
Stiwa-Fertigungstechnik Sticht Gesellschaft M.B.H.
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 Stiwa-Fertigungstechnik Sticht Gesellschaft M.B.H. filed Critical Stiwa-Fertigungstechnik Sticht Gesellschaft M.B.H.
Priority to DE502006007920T priority Critical patent/DE502006007920D1/de
Priority to EP06721249A priority patent/EP1882102B8/fr
Priority to AT06721249T priority patent/ATE482338T1/de
Publication of WO2006122339A1 publication Critical patent/WO2006122339A1/fr

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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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/085—Servomotor systems incorporating electrically operated control means using a data bus, e.g. "CANBUS"
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/046—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member
    • F15B11/048—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member with deceleration control
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
    • F15B15/228—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke having shock absorbers mounted outside the actuator housing
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2807—Position switches, i.e. means for sensing of discrete positions only, e.g. limit switches
    • 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/3057—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having two valves, one for each port of a double-acting output member
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3122—Special positions other than the pump port being connected to working ports or the working ports being connected to the return line
    • F15B2211/3127—Floating position connecting the working ports and the return line
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/77—Control of direction of movement of the output member
    • F15B2211/7741—Control of direction of movement of the output member with floating mode, e.g. using a direct connection between both lines of a double-acting cylinder
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/85—Control during special operating conditions
    • F15B2211/853—Control during special operating conditions during stopping

Definitions

  • the invention relates to a fluidically actuated drive and a method for controlling the same, as described in the preambles of claims 1, 16, 22 and 30.
  • the drive comprises components that can be adjusted relative to one another, of which a component can be moved between the end positions via the first switching element in a first direction of movement and via the second switching element in a second direction of movement opposite the first direction of movement.
  • the drive is provided in its end positions with shock absorbers, which absorb the impact energy of the accumulating on this component.
  • the control is provided with a counter-pulse module which can be controlled via a pre-positioning sensor, which is associated with at least one direction of movement of the component.
  • the counterpulse module causes a temporally adjustable reversal of the two switching elements, so that the component of the drive applied immediately before reaching its approaching end position in the direction opposite to the direction of the pressure medium over a fixed period of time and thereby a braking effect is generated.
  • both the first and the second switching element in the sense of a caster are energized simultaneously.
  • the drive is acted upon on both sides with system pressure and the component due to its inertia further driven at low speed in the direction of the end position.
  • the originally active switching element is energized again and moves the component reliably in the end position.
  • a method for controlling a fluidisclien drive and a device with a fluidically actuated drive is also known from DE 197 21 632 C2.
  • the drive is formed by a lifting cylinder in which an actuating piston is guided with a piston rod.
  • the piston rod is mounted in a stationary manner via a fixed bearing so that the lifting cylinder forms the moving component of the drive.
  • the lifting cylinder is connected to a 5/3 -way valve, which can be controlled by means of two electromagnetic control magnets and with which pressure chambers of the lifting cylinder are mutually acted upon by system pressure.
  • the control magnets are connected to an electronic control device which in turn receives control signals from sensors which can be switched electronically via switching lugs and, depending on this, actuates the 5/3 way valve and thus the movement of the lifting cylinder.
  • a second measurement signal S 1 is generated at a time T 0 and from this, taking into account the actual movement parameters of the lifting cylinder, a time difference t t calculated , For gently starting at least one of the end positions of the lifting cylinder is calculated from this time difference t ⁇ a time t 2 for the beginning of a braking phase at a time T 2 and the duration of the braking phase t 3 to a time T 3 , wherein the control device for braking the Lifting cylinder to the 5/3 way valve outputs a brake signal for the beginning and for the end of the braking phase.
  • the first measurement signal S 0 is assigned to the end of the range of action of the end position directly at the beginning of the movement of the lifting cylinder and the second measurement signal S 1 in the movement phase still sufficiently before the occurrence of a switching flag Sensors are detected.
  • the object of the invention is to provide a fluidically actuated drive and a method for controlling the same, in which the adjustable means of pressure medium component of Drive the end position particularly gently when changing operating and environmental conditions.
  • Triggered end position and the switching elements of the control device to a late date as possible with respect to the movement phase of the pressurized medium acted on component.
  • only a very short braking phase is required in relation to the movement phase of the component, which is sufficient for the component to be gently positioned against the end position of the stationary component of the drive and braked for the shortest possible path, so that on the one hand the movement times of the component significantly shortened between the end positions and on the other hand optionally additionally used shock absorbers designed with less power reserve or even eliminated, which has a favorable effect on the size and price of the drive.
  • both the driving force on the component and the counterforce or braking force on the component corresponds to the maximum, which is favorable to the movement times affects the component and a simple circuit construction of the fluid control of the drive allows, especially since additional throttle check valves can account for setting the deceleration behavior.
  • the use of the control system achieves an adaptive system behavior - A -
  • the movement time of the component can be optimized in the subsequent to the first movement phase with a first direction of movement, second movement phase with opposite direction of movement.
  • the measure according to claim 9 is advantageous, since the system-related inertia of the drive is taken into account during the time control of the switching element and the starting time is preceded by the time t 5 , so that the component is actually set in motion at the desired time. With this measure, the movement time of the component can be further optimized.
  • the control device of the first drive is provided with the system inertia of the second drive taking into account time t 5 , so that, for example, a feedback signal before reaching the end position of the component triggered by the first drive and the start time of the second drive is presented.
  • the switching element assigned to it is activated at an early stage, irrespective of the system inertia of the second drive, so that the second drive starts its movement simultaneously with reaching the end position of the first drive.
  • the acknowledgment signal does not necessarily have to be leading, ie it must be output to the control device or to the higher-level control before the end of the movement phase of the first drive.
  • Another advantage is the monitoring of the signal waveform of the sensors and their evaluation, as described in claim 11.
  • an impermissible state of movement of the component can be detected in a first movement phase and corrected in the subsequent movement phase by changing the counter-control period to D.
  • claim 12 is recognized by the control device that the movement speed of the component is just before reaching its end position is too high and must be reduced taking into account the dynamic stress of the drive, including the counter-control period is increased ton. This ensures reliable operation over the entire service life of the drive.
  • claim 13 recognized by the controller that the speed of movement of the component is relatively low shortly before reaching its end position and higher, for which the Schmidtdauer too reduced and the movement speed is increased so far that the movement time for the movement of the component between is optimized for the end positions.
  • Another advantage is the measure according to claim 15, whereby, for example, the operation of a drive additionally used, mechanical shock absorber can be monitored and an impending failure of the shock absorber is reported as an error message to an operator. As a result, a malfunction of the drive due to malfunction, for example during a working process, such as a joining operation and the like, can be avoided.
  • the development according to claim 19 is advantageous, since on the short path from the first control edges to the second control edge a change of the state of motion, in particular a strong fluctuations in the speed of movement of the component, will hardly occur and therefore the determined time t ⁇ or the speed of movement represents a reliable parameter for setting the counter control period.
  • the specified minimum width of the recessed groove allows reliable detection of the control edges, by means of which the first and second measuring signals are triggered.
  • the embodiment according to claim 20 whereby the wiring and tubing between the control device and the switching element and the pressure loss in the pressure lines between the switching element and the pressure chambers can be reduced, which has a positive effect on the time t 5 .
  • the switching element is constructed on one of the components or integrated in one of the components, the pressure lines are formed by pressure medium channels, in particular inflow and outflow channels, which connect directly to the supply channels of the switching element and open into the pressure chambers, as in WO 99 / 09462 A1 is disclosed in detail and can also find applications in the drive according to the invention.
  • any position can now be approached via the adjustment path of the movable component of the drive, for which only one or both hard stops and / or shock absorbers and / or a control bar and a sensor associated therewith must be adjusted.
  • a center position on the drive can now be approached smoothly.
  • the object of the invention is also achieved by the measures and features indicated in the characterizing part of claims 22 and 30. It is advantageous that, based on a predetermined movement time for the adjusting movement of the component between the end positions in both directions of movement an optimized as needed control of the drive made and the driving behavior of the component can be specified controlled. This allows the installer in the commissioning of the drive to specify the movement time so that the component is moved in crawl, which on the one hand possible damage to the drive due to incorrect programming or assembly can be prevented and on the other hand, the drive meets the increasing safety requirements. Especially in the commissioning of the drive, the fitter is in the effective range of the same and therefore there is a high risk potential, which can be almost completely turned off by the inventive measures.
  • the drive is always driven with such a movement speed, as required by the current operating situation.
  • unnecessary wear is avoided by unnecessary, low movement times, extends the maintenance intervals and increases the life of the drive.
  • an adaptive system behavior is achieved by the use of the control, especially since an optimal operating mode of the drive can be set independently and maintained over the entire service life.
  • the drive according to the invention represents a good compromise between a sufficiently high speed of movement and gentle operation, since the end position of the component can be approached particularly gently.
  • the measure according to claim 26 is advantageous, since now influencing variables resulting in operation can be taken into account in a simple manner and the braking behavior of the component can be optimized even better.
  • the measures according to claims 28 and 29 are also advantageous, since too high a speed drop is recognized by the control device or the control unit and after a predetermined period of time the switching element is again activated and the component is actuated in order to move it into its end positions move and position against the end position.
  • the measure according to claim 29 the actual movement time of the component can be shortened.
  • error messages can be output in optical and / or acoustic representation.
  • An error message can be triggered if, for example, even after the Nachschaltimpulses the component has not reached the end position and a predetermined by the control device or the higher-level control period has elapsed and a limit is exceeded.
  • the error message may contain information about a technical defect on the drive or that a mounting part is clamped to the drive and thereby movement of the component is prevented.
  • FIG. 1 shows a block diagram with a first embodiment of a drive according to the invention in its right starting position, in a schematic representation
  • FIG. 1 a with a control bar, in an enlarged and simplified representation;
  • FIG. 2 shows the drive from FIG. 1 in its left end position;
  • Fig. 3 is a block diagram of the drive in its right starting position with another
  • FIG. 4 shows the drive according to FIG. 3 in its left end position
  • FIG. 5 shows a block diagram with another embodiment of the drive according to the invention in its right starting position
  • FIG. 6 shows the drive according to FIG. 5 in its left end position
  • FIG. 7 shows a handling system with two drives coupled to one another for movements lying at right angles to each other, in a schematic representation
  • FIG. 8 is a time chart of the waveforms of the sensors and the switching elements for different phases of movement of the drive of Figures 1, 2, 5 to 7 ..;
  • FIGS. 3 and 4 shows a time diagram of the signal curves of the sensors and of the switching element for different movement phases of the drive according to FIGS. 3 and 4;
  • FIG. 11 shows the method according to the invention for controlling the fluidically actuated drive in the representation as a flowchart
  • FIG. 1 a is a block diagram of the first control loop shown in dashed lines in FIG. 11; FIG.
  • Fig. IIb is a block diagram of the in Fig. 11 in dashed lines registered, second control loop; 12 shows the method according to the invention for controlling the fluidically actuated drive in a modified version, shown as a flowchart;
  • FIG. 12a shows the timing diagram according to FIG. 8 with the signal profile of the sensor arranged in the target end position, which detects a rebound movement of the component at the end position;
  • FIG. 12b shows the time diagram according to FIG. 8 with the signal curve of the sensor arranged in the target end position, which detects a pendulum movement of the component before the end position;
  • FIG. 13 is a block diagram of the drive in its right starting position with another embodiment for its control according to the invention, in a simplified representation;
  • FIG. 14 shows the drive from FIG. 13 in its left end position
  • Fig. 15 is a timing chart showing the waveforms of the sensors and the switching element for various movement phases of the drive of Figs. 13 and 14;
  • FIG. 16 is a block diagram of a control unit for controlling the drive of FIG. 13 according to the invention.
  • FIGS. 18 is a time chart of the waveforms of the sensors and the switching elements for different phases of movement of the drive according to FIGS. 1 and 2.
  • a first embodiment of a drive 1 is shown in a schematic representation.
  • the drive 1 is formed by a lifting cylinder 2, which consists of a cylinder tube whose ends are closed with end walls 3, 4.
  • a control piston 5 is slidably guided by a pressure medium, which in turn is connected to a piston rod 6.
  • the lifting cylinder 2 forms a guide device for the actuating piston 5.
  • the fluidic pressure medium is compressed air or hydraulic oil.
  • the piston rod 6 is stationarily mounted via a corresponding fixed bearing 7, so that the lifting cylinder 2 forms the moving component and the adjusting piston 5 forms the stationary component of the drive 1 with the piston rod 6.
  • the piston rod 6 extends through the right end wall 3 of the lifting cylinder 2 in the axial direction.
  • the lifting cylinder 2 is a so-called double-acting fluid cylinder.
  • the pressure chambers 8, 9 are alternately acted upon by this embodiment via two separate switching elements 10, 11, in particular two 3/2 way valves.
  • the switching elements 10, 11 each have an electromagnetic control magnet 12 which is connected via corresponding control lines 14, 15 with an electronic control device 13, which in turn energized the switching elements 10, 11 between a rest position in de-energized state of the control magnets 12 and actuation position State of the control magnets 12 switches.
  • the electronic control device 13 is preferably connected via an address-based network, in particular a bus system, with a higher-level control or formed by the higher-level control.
  • the control of the control magnets 12 takes place here via electrical control signals of
  • Control device 13 by which the switching elements 10, 11 are actuated, as shown in FIG. 8 from the waveform for the switching position S SC H I , S SC H 2 of the switching elements 10, 11 can be seen.
  • the left pressure chamber 8 is connected via a first pressure line 16 to the first switching element 10 and the right pressure chamber 9 via a second pressure line 17 to the second switching element 11.
  • the switching elements 10, 11 are in turn connected via a corresponding pressure supply connection to a pressure supply unit 18, for example a pneumatic or hydraulic pressure source, through which the pressure chambers 8, 9 are alternately subjected to system pressure, for example 6 bar.
  • control device 13 is connected via signal lines 19, 20 to sensors 21, 22, so that the electrical control signals output by the sensors 21, 22 can be fed to the control device 13.
  • the sensors 21, 22 are formed for example by inductively acting sensors.
  • the sensors 21, 22 are arranged in the end positions to be approached by the lifting cylinder 2 above the movement path defined by the drive 1 or the lifting cylinder 2.
  • the end layers are defined by end walls 3, 4 forming the fixed stops.
  • the first sensor 21 above the movement path of the drive 1 and the second sensor 22 are arranged below the movement path of the drive.
  • the arrangement of the sensors 21, 22 shown is merely of a fundamental nature. In the arrangement of the sensors 21, 22, depending on the wiring, it is only necessary that they do not influence each other.
  • a first control bar 25 is attached, which is in the position shown in Fig. 2 of the lifting cylinder 2 in the effective range of the first sensor 21.
  • the second sensor 22 is associated with a second control bar 26 at the right end of the lifting cylinder 2, which is in the position shown in Fig. 1 position of the lifting cylinder 2 in the effective range of the second sensor 22.
  • the control strips 25, 26 are thus fixed to the movable component of the drive 1 at its opposite ends, for example via a screw arrangement.
  • the control bar 25, 26, as shown enlarged in Fig. Ia, is formed by a prismatic block and has on its the sensor 21, 22 facing upper side a switching lug 27 a, b and one of her via a recess groove 28 a, b separated Endlagenabisme 29a, b on.
  • the width (B) of the recessed groove 28a, b is at least between 1 mm and 5 mm, in particular between 2 mm and 4 mm.
  • the longitudinal distance (A) between control edges 32a, b, 33a, b amounts to a maximum of between 4 mm and 15 mm, in particular between 5 mm and 9 mm.
  • a bore 30 a, b arranged to receive a fastening screw, not shown.
  • the switching lug 27a, b, the recess groove 28a, b and the end-position portion 29a, b are arranged one behind the other in the direction of movement of the lifting cylinder 2, as indicated by arrow 31 in FIG.
  • the length of the switching lug 27a, b is viewed by the in the direction of movement - as shown in arrow 31 - front side surface and by the towering, front groove side surface and the width of the transversely to the direction of movement - as indicated by arrow 31, opposite side surfaces of the control bar 25, 26th limited.
  • the end-layer section 29a, b extends as a surface between the upwardly projecting rear groove side surface and the rear side surface of the control strip 25, 26 as well as between the lateral side surfaces of the control strip 25, 26 opposite the direction of movement, as shown in arrow 31
  • two control edges 32a, b, 33a, b provided in the direction of movement of the lifting cylinder 2 - according to arrow 31 - successively offset are at which a respective measurement signal S 1 , S 2 is triggered when the control edge 32 a, b, 33 a, b enters the effective range of the respective sensor 21, 22, as will be described in more detail.
  • control bar 25, 26, a third control edge 34 a, b, which lies between the first and second control edge 32 a, b, 33 a, b.
  • a start signal S t ta n is triggered when the control edge 33 a, b exits the effective range of the respective sensor 21, 22, as will be described in more detail.
  • the drive 1 according to the above-described embodiment is shown with a different embodiment of the control in a schematic representation.
  • the lifting cylinder 2 is a so-called double-acting fluid cylinder.
  • the pressure chambers 8, 9 are alternately acted upon by this embodiment via only one switching element 36, in particular a 5/2-way valve.
  • the switching element 36 has, for example, an electromagnetic control magnet 37, which is connected via a corresponding control line 14 with an electronic control device 13, which in turn switches the switching element 36 between a rest position in de-energized state of the control magnet 37 and actuation position in energized state of the control magnet 37 ,
  • the control of the control magnet 37 takes place via electrical control signals of the control device 13, through which the switching element 36 is actuated, as shown in FIG. 10 from the waveform for the switching position S SCH of the switching element 36 can be seen.
  • the left pressure chamber 8 is connected to the switching element 36 via a first pressure line 16 and the right pressure chamber 9 via a second pressure line 17.
  • the switching element 36 is connected to the pressure supply unit 18, through which the pressure chambers 8, 9 alternately with system pressure, for example 6 bar acted upon.
  • FIGS. 5 and 6 show a further embodiment variant of a fluidically actuated drive 1 ', which comprises components which are adjustable relative to one another, of which the movable component can be moved via an actuator 40' along a guide device 41 'between a right end position, as in FIG represented, and a left end position, as shown in Fig. 6, is adjustable.
  • the movable component is formed by a guide carriage 42 'and the guide device 41' by a linear guide attached to the fixed component, wherein the Actuallyssclilitten 42 'is mounted on the linear guide.
  • the fixed component is formed by a frame 43 ', on which in the direction of movement - according to arrow 31 - of the adjustable component opposite each other fixed stops 44' are arranged by the end positions are fixed.
  • the fixed stops 44 ' are formed for example by a screw-threaded arrangement and limit the maximum displacement of the movable member between the end positions.
  • shock absorbers 45 ' are arranged on the frame 43' in the end positions opposite one another. These mechanical shock absorbers 45 'fulfill primarily the task of reducing the impact load on the frame 43' in the commissioning of the drive 1 'or to prevent damage to the drive 1' during operation due to unforeseen faults.
  • the actuator 40 ' is formed by a fluid cylinder, as has been described in FIGS. 1 to 4, and attached via a fastening device 46 with the cylinder housing on the frame 43'.
  • the piston rod 6 'of the actuator 40' is connected via a further fastening device 47 'with the guide carriage 42', so that the actuating piston 5 ' and the guide carriage 42 'are coupled in terms of movement and the retraction or extension movement of the piston rod 6' is transmitted to the guide carriage 42 '.
  • the pressure chambers 8 ', 9' of the actuator 40 ' are connected via the pressure lines 16, 17 with the switching elements 10, 11.
  • the switching elements 10, 11 are connected to the pressure supply unit 18.
  • the control magnets 12 of the switching elements 10, 11 are connected via the control lines 14, 15 with the electronic control device 13, which in turn drives the switching elements 10, 11.
  • the sensors 21, 22 shown in the figures are fastened to the frame 43 'of the drive 1' and are connected to the electronic control device 13 via signal lines 19, 20.
  • the guide carriage 42 ' is provided on its side facing the sensors 21, 22 in the direction of movement - according to arrow 31 - opposite ends with the control bars 25, 26, as they are described in detail in Fig. Ia.
  • Fig. 7 shows a handling system 48 composed of a plurality of fluidically actuated drives 1 ', 1 ", whose design corresponds, for example, to that of the embodiment shown in Figures 5 and 6.
  • the first drive 1' is by a horizontal axis and the second Drive 1 '' formed by a vertical axis, wherein the second drive 1 '' with its frame 43 "on the guide carriage 42 'of the first drive 1' is fixed.
  • the movable component of the second drive 1 is formed by a guide carriage 42", which is mounted on the guide device 41 "vertically movable on the linear guide via the actuator 40.
  • the fixed component is formed by the frame 43" which in the direction of movement - as shown in arrow 31 - of the movable member opposite each other fixed stops 44 "are arranged, by which the end positions are fixed ..
  • the frame 43" In addition to the frame 43" in the end positions opposite to each shock absorber 45 ''.
  • On the guide carriage 42 "of the second drive 1" are the control bars 25, 26 and, for example, a pneumatically or hydraulically actuated gripping system attached, wherein the control bars 25, 26 cooperate with the stationary sensors in the end positions.
  • the pressure chambers of the actuator 40 are also connected via pressure lines to one or two Druckele- elements, as is not shown for reasons of clarity.
  • each drive 1 ', 1 will be described in the following: As not shown in detail, in a preferred embodiment both drives 1', 1 "to be connected to its own control device 13, each of which comprises a control unit and a memory.
  • the control device (s) are preferably connected via an address-based network, in particular a bus system, for data or signal exchange with the higher-level control or formed by the latter. If two control devices 13 are used, they are connected to one another via a further, address-based network, in particular a bus system. Between the control devices 13 and / or the (n) control device (s) 13 and the higher-level control, the Ethernet can be used.
  • the described drives 1 ', 1 are usually integrated in a high number in a machine system, it is also advantageous if the sensors 21, 22 and the control magnet 12 of the switching elements 10, 11 for data or signal exchange with the control device 13 and / or the higher-level control to an address-based network, in particular a bus system, such as a fieldbus, are connected to which the control device (s) 13 and possibly the higher-level control can be connected.
  • a bus system such as a fieldbus
  • Fig. 8 shows the principle timing diagram for the drive 1; 1 '; 1, according to the embodiments shown in FIGS. 1, 2, 5, 6, 7.
  • the signal curve S R for the feedback, the signal sequences S E1 and S E2 of the two sensors 21, 22 as well as the switch positions S SCHI and S SCH2 of the switching elements 10, 11 is shown over the time of three movement phases of the component movable between the end positions.
  • the first and third movement phases correspond to an extension movement - according to arrow 31 - of the lifting cylinder 2 and the second phase of movement of a retraction movement - according to arrow 31 '- of the lifting cylinder. 2
  • a start signal is transmitted to the electronic control device 13 via a higher-level control (not shown), as indicated by the arrow 50 in the figures, whereby the first switching element 10 is energized via the control device 13 by energizing the control magnet 12 1 and the guide carriage 42 ', 42 "according to Fig. 5, 7 - from its initial position in Rieh- activated and the movable member - the lifting cylinder 2 of FIG. tion of the arrow 31 is adjusted from right to left or up to down.
  • a confirmation signal is transmitted, as indicated by the arrow 52.
  • This procedure confirms proper operation.
  • the component moves from its initial position, which corresponds to the right end position, in the direction of the left end position.
  • the first movement phase is initiated, as will be described in more detail below.
  • the control bar 26 With the beginning of the movement of the component from its initial position or right end position to the start time Tstart the control bar 26 is moved past the stationary sensor 22 and triggered in this the waveform shown in Fig. 8. If, at the start time Ts tart, the end position section 29b of the control strip 26 opposes the effective range of the sensor 22, the sensor 22 outputs to the control device 13 an acknowledgment signal S B. The confirmation signal S B is still detected at the time of the standstill of the component. With the confirmation signal SB, the control device 13 is signaled that the component at the starting time Ts tart is safe in its initial position and the first movement phase can be initiated.
  • the sensor 21 arranged in the target end position to be approached is switched by the control bar 25 moved past the latter. If the switching lug 27a with its control edge 32a enters the effective range of the stationary sensor 21, it triggers a first measuring signal S 1 at the time T 1 , which signal is passed on to the control device 13 via the signal line 19. At a later time T 2 , which is in the movement phase, the end position section 29 a comes with its control edge 33 a into the effective range of the sensor 21 and triggers a second measurement signal S 2 in the sensor 21, which is likewise transmitted to the control device 13 via the signal line 19. With the time T 2 , the end of movement is reached. As can be seen in FIG.
  • the rising signal edges of the signal curves S E1 , S E2 are evaluated as measurement signals S 1 , S 2 .
  • This is advantageous because now, regardless of the vertical distance between the control edge 32a, b, 33a, b and sensor 21, 22 always the same time t is measured and a straightforward installation of the sensors 21, 22 on the drive 1; V; Although the measuring signal triggered by the control edge 34a of the switching lug 27a on the sensor 21 is detected as a falling signal edge, it is not evaluated.
  • the control device 13 determines from the time difference between the measuring signals S 1 , S 2 a time period t.sub.i which corresponds to FIG determined actual value tu st in the first movement phase corresponds.
  • control device 13 in addition to the output device 53 also comprises an electronic memory 54, an electronic control unit 55 and a computer module 56, in particular microprocessor, as shown schematically in the figures.
  • the computer module 56 is integrated in the controller unit 55.
  • a desired value This setpoint is for the time ti stored I 1 soii available, which is tuned to a type of drive 1, 1 ', 1 "for the period of time tis o ii is on the various embodiments of the drives.
  • V determined mathematically or empirically from the determined period of time t ⁇ st and the specified time t 1So ii is from the controller unit 55th the controller 13, a target-actual comparison performed, a control deviation calculated from the difference between the setpoint and actual value and a control variable formed, as shown in FIG. I Ib.
  • the period t ⁇ st is thus determined during the movement phase of the component and further processed in the manner indicated above by the control device 13.
  • a common first switchover time Tuzi of the switching elements 10, 11 and a second in the movement phase subsequent, common switchover time Tuz 2 of the switching elements 10, 11 calculated and in the memory 54th stored. If the third movement phase of the component is started, therefore the movement of the component in the same direction of movement as that of the first movement phase of the component, the previously calculated switching times Tuzi, Tuz2 of the switching elements 10, 11 are read from the memory 54 and at least one of the switching times Tuzi, Tuz2 is set in the third movement phase so that the control deviation is corrected, as will be described in more detail in FIG. 11.
  • the switching times T ucl , Tuz 2 of the switching elements 10, 11 are predetermined by the control device 13. For example, the switching times for each direction of movement - in accordance with arrow 31, 31 '- will respectively become /
  • the switching times Tuzi, Tuz 2 of the switching elements 10, 11 or the time period toD is also set by the control device 13.
  • the first switching element 10 is initially moved to its starting position Ts tart via an off position for the movement of the component from its starting position or right end position into the left end position the controller 13 to the control solenoid 12 dispensed, redesign the first control signal in the operating position and held until the first switching Tuzi in the operating position for the period tscm.
  • tscm will be the Pressure chamber 8; 9 'vented with system pressure and thus a pressurization of the component in the direction of movement - as indicated by arrow 31 - causes, while the other switching element 11 for the period tsc H i ⁇ i the rest position remains and the pressure chamber 9; 8 'depressurized or vented.
  • a second control signal is output by the control device 13 to the control magnets 12 again, with which the switching element 10 to the rest position and the switching element 11 in the operating position for a period of time to redesign.
  • the time span to D results from the time difference between Tuzi and or the control signals output by the control device 13 for reversing the switching elements 10, 11 and is determined by the control device 13, as described in FIG. 11.
  • the time period ton for the duration of the counter-control of the pressure chambers 8, 9; 8 ', 9' is derived from the time t ⁇ .
  • the braking phase is initiated in the first switchover time Tuzi and the braking phase is ended in the second switchover time Tuz 2 .
  • the braking phase is thus determined by the switching times Tuzi 9 Tuz2 and / or the duration of the countersteering or the time period to D.
  • a third control signal is again output by the control device 13 to the control magnets 12 of the switching elements 10, 11, and the pressure chambers 8, 9; 8 ', 9' driven in opposite directions, wherein the component again shortly before reaching its end position in the direction of movement again with system pressure or the pressure chamber 8; 9 'in turn subjected to system pressure and the pressure chamber 9; 8 'is vented.
  • the component experiences at the end of the braking phase, where this already one has low movement speed, again a feed in the direction of movement - as indicated by arrow 31 - in the direction of its left end position. This ensures that the component reliably reaches its end position.
  • a third control signal corresponding Nachschaltssignal SN S is generated in the second switching time T UZ2 , through which via the control device 13, the feed of the component into the original
  • Movement direction - according to arrow 31 - causing switching element 10 is driven at least until the end of the movement phase and with reaching the end position.
  • the reset signal S N s is applied to the control magnet 12 of the switching element 10 for a period of time tscm until the component starts to move in the second movement phase, in which the component moves from its left end position into its right end position in the opposite direction of movement Arrow 31 '- is moved.
  • tscm in the pressure chamber 8; 9 ', the system pressure and is held by the component positioned for a certain time in the approached end position.
  • the time interval tsc H 2 results from the time difference between the second switching time Tuz 2 and a third switching time Tuz 3 of the switching elements 10, 11.
  • the switching elements 10, 11 and the pressure chambers 8, 9; 8 ', 9' within a movement phase abruptly and in opposite directions, exactly to the calculated switching times Tuzi, Tuz2 and by the control device 13 or the higher-level control predetermined switching Tuz3 be driven, as is achieved by known from the prior art quick-acting valves.
  • Pre-control signal Sys supplied and the switching state is changed, which causes the pressurization in the direction of movement - as indicated by arrow 31 - as shown in dotted lines in Fig. 8.
  • the pilot control signal Svs is triggered at the pre-control time Tys.
  • the Time difference between the pre-control time TVs and the start time Tstar t for the second movement phase corresponds to the time t 2 , wherein the start time Ts tart the third switching time Tuz 3 of the switching elements 10, 11 corresponds.
  • the period of time t 2 is preferably determined empirically and stored in the memory 54 of the control device 13 on call bar.
  • the third switching time Tuz 3 of the switching elements 10, 11 is specified by the control device 13 or the higher-level control.
  • the pre-control time Tvs is calculated in each movement phase of the component from the time difference between the switching time Tuz 3 and the time t 2 and switched before the movement of the component in the previous movement phase opposite movement direction, the pressurization in the direction of movement of the component causing switching element 10, 11.
  • the pressure chamber 8; 9 'vented before the start of movement of the component in the second movement phase or the pressure in this pressure chamber 8; 9 'reduced so that the movement of the component to the start of movement in the second movement phase counteracts only a minimized or no counterforce.
  • This is advantageous since, with the drive force set by the system pressure, a high acceleration is achieved at the start of movement of the second movement phase and, further, the movement time of the component between the end positions is substantially reduced, as shown in FIG first movement phase is shown.
  • the movement time of the component in the subsequent movement phase - according to the representation of FIG. 8 in the second movement phase - by the "early" venting in the previous movement phase - according to the illustration of FIG. 8 in the first Movement phase - pressure-loaded pressure chamber 8, 9, 8 ', 9' are reduced with increasing duration of the venting time.
  • the switching element 11 is switched by the control device 13 at the start time Ts tart , whereby the pressure supply unit 18 via the switching element 11 and the pressure line 17 to the pressure chamber 9; 8 'connected and this is acted upon by the system pressure, so that the component is moved from its left end position to the right end position.
  • the time span tsc H 2 for the switching element 10 effecting the movement of the component results from the time difference between the second changeover time Tuz 2 and the pilot control signal Svs >, as is not entered in the figure.
  • the time span tsc H 2 for the other switching element 11 remains unchanged.
  • the control device 13 also evaluates the time periods t 3 , 1 4 and t 5 .
  • the time period t 3 is from the control device 13 from the time difference between the third control signals to the second switching time and the first measurement signal S 1 at time T 1 as actual value t 31st determined.
  • a nominal values t 3 s o ii stored which is tuned to a type of drive 1, 1 ', 1 "and is mathematically calculated or determined empirically. Also, as yet is described in more detail in Fig.
  • the electronic control unit 55 is carried out by the electronic control unit 55 between the set time t 3 s 0 n and the determined time t 31st a target-actual comparison, a control deviation calculated from the difference between the SoIl- and actual value and Based on the control deviation, the first and / or second switching time Tuzi, Tuz 2 of the switching elements 10, 11 is set for the respective next movement phase of the component in the same direction of movement - and the time period toD fixed.
  • the entered time period t 4 is triggered at the time T 2 and ends at a later time, in which it is ensured that all arithmetic operations of the control unit 55 are completed and the control deviation or manipulated variables for the next movement phase are available in the same direction of movement.
  • This time period t 4 can for example be fixed and is stored in the memory 54.
  • the control device 13 After completion of the calculations of the control deviations, the control device 13 generates a release signal with which the second movement phase of the component can be started by the control device 13 or superordinate control.
  • This version is zav application, if due to the movement of the drive 1; 1'; 1 "is known that between the first and second movement phase of the drive 1, 1 ', 1" the component remains in the respective end position for a certain time, within which the calculations of the deviations and all other mathematical functions can be completed.
  • This application corresponds to the usual use of the drive 1 according to the invention; 1'; 1 "as the axis of a multi-axis handling system, after which the computer power of the control device 13 can be designed lower.
  • the time t 5 is determined by the control device 13 at the start of movement of the component, which is the time difference between the control signal at the start time Ts tart of the switching element 10 initiating the movement of the component and the start signal S ta rt at the time T 0 results.
  • This time interval t 5 results from the inertia of the system, for example from the switching time of the switching element 10, pressure propagation in the pressure lines 16, 17, friction between the relatively adjustable components, mass of the component to be moved and the like.
  • the first control signal or switching signal for the movement of the component causing switching element 10 by the time t 5 earlier than the actual start of movement of the component triggered and thereby the pressurization of the component prematurely initiated so that the inertia of the drive 1, 1 ', 1 "does not cause a negative effect on the movement time of the component.
  • the time span t 5 is read from the memory 54.
  • the determined time intervals t 5 from the last movement phase of the component of each movement direction - according to arrow 31, 31 '- stored in the memory 54 are read from the memory 54.
  • the time interval t 5 is calculated continuously in all movement phases, stored in the memory 54 and used in the next movement phase in the same direction of movement.
  • the control device 13 determines or calculates the time period t 5, for example, in the first movement phase and switches this or the higher-level control in the third movement phase, the switching element 10 to the calculated from the first movement phase, the new start time Tstart
  • a feedback signal S RETK is output to the at least one control device 13 and / or higher-level control before the end of the movement phase of the first drive 1 ' and the starting time Ts tart of the second drive 1 "is presented at least by the time t 5 .
  • the movement of the component causing switching element is switched, the corresponding pressure chamber of the actuator 40 "applied system pressure and the guide carriage 43", for example, adjusted from top to bottom between its end positions.
  • the leading feedback or the leading feedback signal S RUOIC compensates for the inertia so that the second drive 1 "actually starts its movement when the first drive 1 'has reached its end position, thereby achieving a considerable reduction of the movement times of the handling system 48 ,
  • the acknowledgment signal S RETK does not necessarily have to be output in advance , that is to say before the end of the movement phase of the first drive 1 'to the control device 13 or higher-order control (not shown).
  • the feedback signal S RETk is emitted simultaneously with reaching or after reaching the end position of the first drive 1 '. This may be the case when the second drive 1 "is equipped with a laser beam head which must be moved from the end position of the first drive 1 'by means of the second drive 1" to a welding point is absolutely free of vibration, the movement of the second drive 1 "is started with the laser beam head at the earliest with reaching the end position of the first drive 1 '.
  • the time T R (not shown in the figures ), in which the feedback signal S RUCK is triggered, is calculated by the control device 13 or the higher-level controller and results from the difference between the time T 2 of the sensor 21 from the first drive 1; 1 'and the time t 5 to the start of movement of the second drive 1 ". Since the time T 2 is detected only after reaching the verify moving end position, this need for the calculation of the time T R of the preceding movement phase of the actuator 1' are attracted manufacturing , which can be determined by the control device 13, the time TR for the subsequent movement phase of the second drive 1 ".
  • a correspondingly reversed control of the switching elements 10, 11 takes place, as entered in Fig. 8 for the second phase of movement, wherein the corresponding measurement signals S 1 , S 2 from the sensor 22, the Confirmation signal S B and start signal Ss tart be triggered by the sensor 21.
  • the switching element 11 receives at the time Tstart the first control signal for the beginning of the movement of the component from its left end position to the right end position again from the control device 13 or the higher-level control.
  • the control device 13 calculates the first and / or second changeover time Tuzu Tuz2 of the switching elements 10, 11 in the case of a control deviation in the second movement phase of the component, and the first and / or second changeover time Tu Z1 in the fourth movement phase of the component , Tuz2 the switching elements 10, 11 set accordingly.
  • FIGS. 10 shows the basic timing diagram for the drive 1 according to the embodiments shown in FIGS. 3, 4.
  • the signal curve SR for the feedback, the signal sequences S EI and S E2 of the two sensors 21, 22 and the switching position S are shown in FIG SCH of the switching element 36 over the time of three movement phases of the movable between the end positions component.
  • the first and third movement phases correspond to an extension movement - according to arrow 31 - of the lifting cylinder 2 and the second movement phase of an insertion movement - according to arrow 31 '- of the lifting cylinder 2
  • the different signal curves SR, SEI, SE 2 times T 1 , T Sta rt, To, T 1 , T 2 , Tuzi, Tuz 2 , Tuz 3, T R and time periods t 1; t 3 , t 4 1 5 , tscm, tscm, since these correspond to those of FIG. 8.
  • a start signal is initially transmitted via a higher-level control (not shown) of the electronic control device 13, as shown in FIG Arrow 50 indicated, and then discharged from the control device 13 to the control magnet 37, a first control signal, whereby the control magnet 37 energized and the switching element 36 is switched to the operating position and the movable member - according to the execution of the lifting cylinder 2 - from its initial position in the direction of Arrow 31 is adjusted from right to left.
  • the switching element 36 in the operating position shown in Fig.
  • the pressure line 16 is opened, so that the pressure chamber 8 of the drive 1 is connected to the pressure supply unit 18 and pressurized with system pressure, while the pressure chamber 9 via the pressure line 17 with a vent line 51st is connected to the switching element 36, so that the pressure medium or working medium located in the pressure chamber 9 can escape unhindered into the atmosphere. Therefore, in the right end position of the movable component, the pressure chamber 9 is disconnected from the pressure supply unit 18.
  • the control bar 26 With the start of the movement of the component from its starting position or right end position to the start time Tstart, the control bar 26 is moved past the stationary sensor 22 and triggered in this sem, the waveform shown in Fig. 10. This waveform corresponds to that in FIG. 8 and is therefore dispensed with a repeated description at this point.
  • the arranged in the end position sensor 21 is switched by the moving past these control bar 25. If the switching lug 27a with its control edge 32a enters the effective range of the stationary sensor 21, it triggers a first measuring signal S 1 at the time T 1 , which signal is passed on to the control device 13 via the signal line 19. At a later time T 2 , which is in the movement phase, the end position section 29 a comes with its control edge 33 a into the effective range of the sensor 21 and triggers a second measurement signal S 2 in the sensor 21, which is also transmitted to the control device 13. Reference is made here to the detailed description of FIG. 8, in which the signal profile at the sensor 21 is explained, and is therefore removed from a repetition at this point.
  • a first switching time Tuzi of the switching element 36 and / or a second switching point Tuz 2 of the switching element 36 subsequent to the movement phase are calculated and stored in the memory 54 on the basis of the control deviation in the first movement phase of the component. If the third movement phase of the component is started, therefore, the movement of the component in the same direction of movement as the the first movement phase of the component, the previously calculated switching time (t) Tuzi > Tuz 2 of the switching elements 36 are read from the memory 54 and at least one of the switching times Tuzi, in the third movement phase adjusted so that the control deviation is corrected.
  • the switching element 36 is at the start time Tst art on the output from the control device 13 to the control magnet 37 for the movement of the component from its initial position or right end position in the left end position to redesign the first control signal into the actuation position and held in the actuation position for the time span tsc H i until the first changeover time Tuzi.
  • the pressure chamber 8 is aerated with system pressure and thus pressurization of the component in the direction of movement - according to arrow 31 - causes while the pressure chamber 9 is vented.
  • a second control signal is output by the control device 13 to the control magnet 37, with which the switching element 36 is transformed into the rest position for a time period t GD .
  • the originally pressurized pressure chamber 8 is vented, the originally pressureless pressure chamber 9 for the time t GD ventilated with system pressure and thus a small pressure pad shortly before the end of the movement phase of the component constructed against which the moving component runs, so that a hard stop is excluded in the end position of the component.
  • the time period t GD results from the time difference between Tuzi and T ⁇ jz2 or the control signals output by the control device 13 for the reversal of the switching element 36 and is determined by the control device 13.
  • a third control signal is again output from the control device 13 to the control magnet 37 of the switching element 36.
  • the latter at the end of the braking phase, when the latter already has a low speed of movement, it again receives an advance in the direction of movement - as indicated by arrow 31 - in the direction of its left-hand end position. This ensures that the component reliably reaches its end position.
  • a fourth control signal is output again from the control device 13 to the control magnet 37 of the switching element 36 and the pressure chambers 8, 9 are actuated in opposite directions.
  • the fourth control signal corresponds to the start signal for the second movement phase at the time Tstart-
  • a corresponding reverse control of the switching element 36 takes place, as shown in Fig. 10 for the second movement phase, wherein the corresponding measurement signals S 1 , S 2 from the sensor 22, the confirmation signal S B and start signal S s ta r t be triggered by the sensor 21.
  • the switching element 36 is this switched from the registered in Fig. 3 operating position in the registered in Fig. 4 rest position by the start time Ts tart the second movement phase of the higher-level control or control device 13 of the control magnet 37 is driven with the first control signal and the control magnet 37th in the unbestromtem
  • the control device 13 calculates the first and / or second changeover time Tuzi, Tuz 2 of the switching element 36, and in the fourth movement phase of the component, sets the new, first and / or second changeover time Tuzi » Tuz2 of the switching element 36 accordingly.
  • the start of movement of the component in the first movement phase is symbolized by block 70 and the end of movement of the component in the first movement phase by block 71.
  • the movement of the component is monitored by means of a monitoring device 72 having the control device 13, as shown schematically in the preceding figures.
  • This monitoring device 72 is formed, for example, by an electronic or programmed counter, which detects the number of state changes of a signal level between a high level and a low level of the sensor 21 and / or 22.
  • a value for the minimum number of state changes of a signal level between a high level and a low level of the sensor 21 and / or 22 is stored in the memory 54 of the control device 13.
  • the controller 13 performs a comparison between the determined number of state changes of a signal level between a high level and a low level and a specified minimum number of state changes of a signal level between a high level and a low level, and an evaluation made. If the determined number of state changes falls below the specified minimum number of state changes, an error message is displayed on the output device 53 of the control device 13 and / or on the higher-level control. This error message is shown as block 74. After this execution, the minimum number of state changes is set greater than one and an error message is issued, if the determined number of state change is, for example, one or zero.
  • the cause of the error message may be, for example, a defective sensor 21, 22 or a hindrance to the movement of the component.
  • step 75 a setpoint-actual comparison between the set time interval t 3 s o n and the determined time interval t 31st is first carried out by the control unit 55 of the control device 13. If the determined time interval t 3 i s t deviates from the set time interval t 3 s o ii, a control variable for setting the switching times Tuzu Tuz2 is formed from these in a first control loop of the control unit 55.
  • Fig. 1 Ia the first control loop is shown in detail.
  • a control deviation (e) between the determined time period t 3 i st and the specified time period t 3 s o n is calculated and a first controller 77 supplied to the control unit 55.
  • the manipulated variables for setting both switching times Tuzi, Tuz 2 are calculated from the control deviation (e) according to a defined control law and then stored in memory 54. If the movement of the component in the third movement phase is now started, then the corresponding manipulated variables are read from the memory 54 and applied to the switching elements 10, 11 according to the embodiments in FIGS.
  • a control deviation (e) which is detected in a preceding movement phase in the first direction of movement - according to arrow 31 - is adjusted by changing the switching times Tuzi, Tuz2 and in the subsequent movement phase in the same Direction of movement - according to arrow 31 - the or the switching element (s) 10, 11; 36 after the calculated switching times Tuzu Tuz 2 are controlled, so that the detected time period t 3 i st the set time t 3 s o n corresponds.
  • the new switching times Tuzi, Tuz2 are calculated, the time period to D remaining unchanged in all subsequent phases of movement in the same direction of movement, as shown by arrow 31.
  • this control intervention substantially corresponds to a shift of the switching times T UZ1 , at a constant distance from time T 1 .
  • the actual value of the ascertained time interval t 3 i st corresponds to the set desired value of the time span tss o ii, a control intervention and thus a shift of the switchover times Tuzi, Tuz 2 on the time axis with respect to the time T 1 can be omitted and the method step 78 immediately becomes initiated.
  • step 78 is performed again by the controller unit 55, a desired-actual comparison of the fixed period of time tis and the time ii o t ⁇ determined st. Deviates the time period determined t ⁇ st of the set period of time t ⁇ o u from, is initially formed in the first movement phase for the next phase of movement in the same direction of movement of the component, the control deviation (e) to a comparator 79 and a second controller supplied 80 the controller unit 55 , as shown in Fig. 1 Ib as a second control loop of the control unit 55.
  • the controller 80 only one manipulated variable for setting the switchover time Tuzi or the time period to D is formed from the control deviation (e) according to a defined control law and then stored in the memory 54. If now the movement of the component in the third movement phase is started, then the corresponding manipulated variable is read from the memory 54 and applied to the switching elements 10, 11 according to the embodiments in FIGS. 1, 2; 5, 6; 7 or the switching element 36 according to the embodiment in Figs. 3, 4 switched. Accordingly, in this control circuit, the second switching time Tuz2 is maintained and the time period to D or the duration of the counter-control is changed, in which the first switching time Tuzi is shifted on the time axis.
  • the first and second regulators 77, 80 of the control unit 55 are formed by an I-controller.
  • a simplification of the control method is also achieved in that the time periods tis o ii, t 3 s o ii are defined as a time window with a lower and upper limit and a control intervention takes place only if the determined time intervals t ⁇ st , t 3 i st outside the Zeitpp. Tolerance window lie.
  • the lower and upper limits of the time window are defined in such a way that nevertheless an optimal deceleration behavior and smooth approach of the end position is possible.
  • FIG. 12 shows a modified method for controlling the drive 1; 1 ', 1 "in a flow chart
  • the modification concerns the consideration or correction of the movement sequence of the component
  • the component is moved at too high a speed towards the end position and due to the high kinetic impact energy , This is moved from the end position against the target movement and results in, the approaching end position associated sensor 21 a waveform, as shown in Fig. 12a.Other can occur the case that the component with too low a speed is moved against the end position and he executes a pendulum motion before reaching the end position, so that the signal waveform shown in Fig. 12b results for the sensor 21 located in the approaching end position
  • the end position is formed by a mechanical limiting element, such as a fixed stop or shock absorber.
  • the signal profile at the sensor 21 arranged in the end position to be approached is determined and the number of state changes of a signal level between a high Level and low level evaluated. If the determined number of state changes of a signal level at the sensor 21 exceeds a limit number of state changes of a signal level determined by the control device 13, the method step 82 is initiated.
  • the controller unit 55 of the control device 13 carries out a desired-actual comparison between a defined time period tis o ii and the determined time interval t ⁇ st . Falls below the amount of time determined t ⁇ st the predetermined period of time t ⁇ o i b the controller 13 can determine by evaluation of the waveform that the construction part is moved at an excessively high speed in the end position.
  • the control device 13 is supplied with three measurement signals S 1 , S 2 , S 3 .
  • the first measuring signal S 1 is detected at a time T 1 when, for example, the control strip 25 attached to the moving component enters the effective range of the sensor 21 arranged in the approaching end position in the direction of movement - as indicated by arrow 31 - front control edge 32 a, while the second Measuring signal is detected at a time T 2 , in which the control bar 25 with the second control edge 33 a in the effective range of the sensor arranged in the end position to be approached 21 enters.
  • the component If the speed of movement of the component is too high, it is initially moved counter to its desired movement due to its excessive impact energy at the end position and then driven by the repeated application of pressure for safe starting of the end position in its original direction of movement. As a result, the component is again moved in the direction of the end position and braked against the end position, so that the second control edge 33a again enters the effective range of the arranged in the end position sensor 21 and thereby triggers the third measurement signal S 3 at a later time T 3 , However, this third measurement signal S 3 is not evaluated by the control device 13.
  • the second control loop is run through as described above. It is essential that the corrected period of time to D be calculated on the basis of the preceding movement phase, and that the corrected or reduced time period ton be set in the movement direction of the component in the subsequent movement phase.
  • the setting of the time period to D is again performed by the correction of at least one of the switching times Tuzi, Tuz2 of the switching elements 10, 11; 36th
  • step 82 if determined in step 82 that the time period determined st t ⁇ the predetermined period of time tis o ii exceeds, this will be evaluated in the first movement phase of the control device 13 as a pendulum movement, which is eliminated by reducing the amount of time to D.
  • the time period ton stored in the memory 54 is multiplied by a weighting factor which is defined, for example, as a constant between 0.6 and 0.8. But it is equally possible t ⁇ to specify the weighting factor as a function of the difference between the specified time tis o ii and the amount of time determined st.
  • This process is represented by a block 83 in FIG. 12.
  • the time period too, corrected by the weight factor, is again used as a new time period to D in the third movement phase.
  • the first measuring signal S 1 is detected at a time T 1 when, for example, the control bar 25 attached to the moving component enters the effective range of the sensor 21 arranged in the approaching end position with the front control edge 32 a in the direction of movement. If the speed of movement of the component is too low, the component will Position moves counter to its desired movement, so that the control bar 25 again leaves the effective range of the sensor 21. By applying pressure to safely approach the end position, the component is again driven in its original direction of movement, so that the front control edge 32a at time T 2 again enters the effective range of arranged in the end position sensor 21 to be approached.
  • the third measurement signal S 3 is triggered, in which the component has actually reached the end position. However, this third measurement signal S 3 is not evaluated by the control device 13.
  • the time interval t 4 entered in FIGS. 12 a, 12 b is triggered at the time T 3 and ends at a later point in time, in which it is ensured that all arithmetic operations of the control unit 55 have been completed and the control deviation or manipulated variables for the next phase of movement into it Movement direction are available. The end of movement is reached only at time T 3 . Likewise occurs a shift in the time TR (not shown in the figures ), in which the feedback signal S RÜCIC is triggered.
  • the end position can be determined either solely by the skillful control of the drive 1; 1'; 1 "or by the combination of the skillful control of the drive 1, 1 ', 1" and a shock absorber gently approached. If a shock absorber is used, then that part of the kinetic impact energy of the component is absorbed, which was not degraded by the countermeasures over the time period t GD . Therefore, the proportion of the kinetic energy to be absorbed by the shock absorber is significantly influenced by the duration of the counteracting to D. As described above, the time period to D for the duration of the counter-control results from the period ti.
  • the shock absorber acts with its spring force counter to the direction of movement of the component, so that the determined time tu st slightly increase when the moving component runs onto the shock absorber.
  • the time period ton is slightly reduced for the duration of the countermeasure. If, due to a defect, the shock absorber fails or has been mounted incorrectly, the time period t ⁇ st is significantly reduced, so that the time span tGD for the duration of the counter control is increased by the regulation from the determined time period t ⁇ st .
  • a time lower limit and upper limit are defined for the period to D.
  • an error message in the form of an optical and / or acoustic signal is output at the output device 53 or the higher-level control and / or the drive 1; 1 '; 1 "shut down.
  • FIGS. 13 to 18 another embodiment of the method according to the invention is shown, which may optionally represent an independent, inventive solution.
  • Fig. 13 shows a drive 100, which is also formed according to this embodiment by a double-acting lifting cylinder 101, which consists of a cylinder tube, whose ends are closed with end walls 102, 103.
  • a double-acting lifting cylinder 101 which consists of a cylinder tube, whose ends are closed with end walls 102, 103.
  • a control piston 104 out, which in turn is connected to a piston rod 105.
  • the piston rod 105 is mounted in a stationary manner via a corresponding fixed bearing 106, so that the lifting cylinder 101 forms the movable component and the adjusting piston 104 forms the stationary component of the drive 100 with the piston rod 105.
  • a first pressure chamber 107 and between the right end wall 102 and the control piston 105 a second pressure chamber 108 is formed.
  • the pressure chambers 107, 108 are acted upon by this embodiment via only one switching element 109, in particular a 5/3 way valve alternately with system pressure.
  • the switching element 109 has, for example, two electromagnetic control magnets 110, which are connected via corresponding control lines 111, 112 to an electronic control device 116, which in turn drives the switching element 109. In the de-energized state of
  • Control magnet 110 is the 5/3 -way valve in the unentered middle position (B). In the middle position (B), both pressure chambers 107, 108 are connected to return ports of the 5/3 way valve. In energized state (first operating position A) of left control solenoid 110, the first pressure chamber 107 via a first pressure line 113 to the pressure supply unit 114 and in energized state (second operating position C) of the right control solenoid 110, the second pressure chamber 108 via a second pressure line 115 to the pressure supply unit 114 is connectable. The switching element 109 is connected to the pressure supply unit 114. The control of the control magnet 110 takes place here via electrical control signals of the control device 116, as can be seen in Fig. 15 from the waveform for the switching position S SCH of the switching element 109.
  • control device 116 is connected via signal lines 117, 118 to sensors 119, 120, so that the electrical control signals output by the sensors 119, 120 can be fed to the control device 116.
  • the control device 116 may also be formed by the higher-level control.
  • the sensors 119, 120 are arranged in a stationary manner above the travel path defined by the drive 100 in the end positions to be approached by the movable component. These sensors 119, 120 cooperate with switching lugs 27a, b of the control bars 25, 26 described above, which are fastened to the opposite ends of the movable component, therefore the lifting cylinder 101.
  • the arrangement of the control strips 25, 26 shown is only of a basic nature.
  • Switching lugs 27a, b which are formed by a prismatic block, could equally well be used, or reed switches are used, ie sensors with which the end positions of the component are without switching flags 27a, b is monitored. It is essential that over arranged in the end positions sensors 119, 120, an actual move time t ß i st of the moving member between the end positions to be accurately detected.
  • FIG. 15 shows the basic time diagram for the drive 100.
  • the signal sequences S E1 and S E2 of the two sensors 119, 120 and the switching position S SCH of the switching element 109 are shown over the time of three movement phases of the component movable between the end positions.
  • the first and third movement phase corresponds to an extension movement - according to arrow 31 - of the lifting cylinder 101 and the second movement phase of a retraction movement - according to arrow 31 '- of the lifting cylinder 101st
  • a start signal is first transmitted to the electronic control device 116 via a higher-level control (not shown), as indicated by the arrow 50 in FIGS. 13 and 14, and then by the control device 116 to the left
  • Control magnet 110 outputs a first control signal, whereby the control magnet 110 is energized and the switching element 109 is switched to the actuation position (A) and the movable member - according to shown embodiment of the lifting cylinder 101 - is adjusted from its initial position in the direction of arrow 31 from right to left. If the shift element 109 is now in the actuation position (A) shown in FIG.
  • the pressure line 113 is opened so that the pressure chamber 107 of the drive 100 is connected to the pressure supply unit 114 and pressurized with system pressure, while the pressure chamber 108 via the pressure line 115 is connected to a vent line 125 on the switching element 109, so that the pressure medium located in the pressure chamber 108 can escape unhindered into the atmosphere.
  • the switching element 109 By activating the switching element 109, the first movement phase is initiated, as will be described in more detail below.
  • a setpoint value for the movement time t ⁇ s o ii of the component between the end positions of each movement phase is preset statically or dynamically determined before the actual start of movement of the component at the start time Tstart by the control device 116 or the higher-level control (not shown).
  • the statically predetermined desired value tssoii is determined mathematically or empirically, for example, and stored in a memory 129 of the control device 116.
  • the reference value t s o ß ii can also be determined dynamically.
  • the reference value t s o ß ii for example, continuously adapted to a machine cycle of a co-operating with the drive system 100 machines and read continuously the memory 129th From the setpoint for the movement time tsssoii, a theoretical start time Ts tart (movement start) is set or calculated by the control device 116 and a theoretical end time TTE (theoretical end of movement) is calculated.
  • the actual movement in the first movement phase is now tion time of the adjusting movement of the component between the end positions as actual value t ß i st detected.
  • the detected actual value t ß i st of the electronic control device 116 is supplied, followed by a this having controller unit 127 between the determined travel time t ßlst and the predetermined movement time tssoii a target actual is performed comparison, as shown in FIG. 16 can be seen.
  • the manipulated variable is temporarily stored in the memory 129.
  • the controller unit 127 has a computer module 130, in particular a microprocessor.
  • the manipulated variable calculated by the first movement phase is read from the memory 129 and adjusted according to the manipulated variable of at least one of the two chronologically consecutive switching times Tuzi, Tuz2, so that the control deviation (e) is corrected in the third movement phase is.
  • the first switching time Tuzi corresponds to the starting time Tstar t determined by the control device 116 or the higher-level control, in which the switching element
  • a control duration ts D of a start pulse is changed. It proves to be advantageous if the first switchover time Tuzi remains unchanged with respect to the time axis and the control duration ts D of the start pulse is set by changing the second switchover time Tuz 2 .
  • the start pulse is predetermined by the rising edge in the first switchover time Tuzi and the falling edge in the second switchover time Tuz2.
  • the pressure chamber 107 is subjected to system pressure via the control duration ts D , so that the component accelerates from standstill in the starting position or right end position to a desired speed Vs 0I i and moves in the direction of movement - according to arrow 31 - to its left end position becomes.
  • the control device 116 or the higher-level control again outputs a second control signal to the left-hand control magnet 110, with which the left-hand control magnet 110 is deactivated and the switching element 109 is moved from the actuation position (A) into the middle position (rest position).
  • the pressure chamber 107 is connected to the return port of the switching element 109 and thereby the originally pressurized pressure chamber 107 is vented.
  • the start pulse is followed within a period of time tos by a plurality of switching pulses of short duration tsc H , by which the switching element 109 is actuated by the control device 116 or the higher-level control in intervals of successive intervals between the center position (B) and the actuation position (A) ,
  • the switching element 109 is pulsed controlled over the period toss and the system pressure is applied to the pressure chamber 107 over the duration tscH of each switching pulse.
  • the pulse pauses are plotted in FIG.
  • the left control magnet 110 is actuated by the control device 116 or the higher-level control via control signals at the switching times Tuz 3 - Tuz n several times.
  • the left control magnet 110 receives a third control signal, with which the switching element 109 is actuated from its original middle position (B) back to the operating position (A) and the pressure chamber 107 is acted upon.
  • the left control magnet 110 receives an nth control signal within the time period tos, with which the switching element 109 is actuated from its original actuation position (A) back to the middle position (B) and the pressure chamber 107 is vented.
  • the duration of the pulsed actuation of the switching element 109 results from the
  • the switching time Tuz n corresponds to the calculated end time T TE , to which the component should have reached its end position.
  • the left end position is not reached within the desired movement time t ⁇ s o ii, but only at a later end time T EE determined via the approaching sensors 119 (corresponds to T 2 ) theoretical end time TT E is.
  • This circumstance can change the operating conditions and environmental conditions, for example, be changed by the additional load of the drive, the friction conditions occur.
  • the control deviation (e) is now calculated and the at least one manipulated variable for setting at least one switching time Tuzi » Tuz2°. formed the control period tso of the start pulse, which is the switching element 109 is switched in the third movement phase.
  • the electronic control unit 127 calculates the pulse interval tp between two successive switching pulses within the time span tos. These switching pulses follow the pulse pauses, which are defined by the time difference between two directly successive control signals at the switching times Tuz 2, Tuz 3 to Tuzn.
  • the duration tscH of the switching element 109 impressed switching pulses is preferably fixed depending on the type of drive and is stored in the memory 129. Likewise, the number of switching pulses within the period to ß is selected depending on the drive type and stored in the memory 129.
  • the duration tscH and the number of switching pulses can be input by the fitter before the drive 100 is put into operation via an input device 131, in particular a computer (PC), or the higher-level controller of the control device 116.
  • the controller 116 has the input device 131.
  • the controller unit 127 may also have a dynamic learning mode (adaptive control) for setting the duration tscH and / or the number of switching pulses.
  • the component is initially controlled between the end positions based on Gmndeingnagna for the duration tsc ⁇ and / or the number of switching pulses and meanwhile recorded sensed at this excited vibrations. If the vibrations exceed a limit value, the duration tscH and / or the number of switching pulses are automatically adapted until the vibrations are within a permissible range and an optimum driving behavior of the component is achieved. Even during operation, an automatic adaptation can be maintained, that is, changes in sliding properties, masses, signs of aging,
  • Impact energy in the end position and the like can be continuously adapted to be compensated by changing the duration tscH and / or the number of switching pulses.
  • the computer module 130 of the controller unit 127 can calculate the time span tp j of each pulse break after a computing algorithm stored in the memory 129 and described below.
  • FIG. 17 Different speed profiles of the component are shown in FIG. 17. If there is a long control period tsD, the speed curve entered in full lines results, while the speed profile entered in dotted lines results for a short control period tsD. As can be seen, the component reaches its maximum setpoint speed vs o ii in a time span over the control duration tsD. From the second switchover time Tuz2 within the time period toB, the component increasingly loses movement speed, so that it is moved with respect to the maximum target speed vs o ii reduced movement speed against the end position.
  • the speed drop ⁇ v varies depending on the control duration ts D of the start pulse.
  • Ss i enters a high control deviation (e), therefore, the detected movement time t st is higher than the predetermined movement time tßsoii, the control time is t S o of the start pulse increases and thereby the component in the first time period at a highutzsgeschwin- speeding up.
  • the duration tp of each pulse break is reduced uniformly, that is, the component is moved without drive over shorter intervals, as indicated in solid lines.
  • the control duration ts ⁇ of the start pulse is reduced, then the duration tp of each pulse break is increased uniformly, that is to say the component is driven without drive over longer intervals, as indicated in dotted lines.
  • the method according to the invention makes use of the knowledge that the ambient conditions, in particular the friction or aging phenomena, during the drive-less movement of the component bring about targeted deceleration of the component on its displacement path, for example from the right-hand end position to the end position, so that the component gently drives against the final position.
  • the control device 116 the switching element 109 at a switching time TU ZA a Nachschaltsignal S N S is switched on and the pressure chamber 107 over a period I A driven with system pressure, so that the component in the direction of movement - moves in the direction of its end position, as shown in arrow 31 - pressed against them and kept positioned in this with a holding force.
  • the time interval t A results from the time difference between the switching time TU ZA of the first movement phase and the first switching time T uzl or the starting time Ts tart the second movement phase in the opposite direction of movement - according to arrow 31 '.
  • the post-switching signal SN S accordingly corresponds to a subsequent switching pulse. If the component is actually in its end position, the signal S 2 is triggered via the control edge 33 a at the sensor 119 arranged in the end position to be approached at the time T EE or T 2 (not registered). Reference is here made to the detailed description of FIG. 8, in which the signal curve S E2 is explained on the sensor 21 and can be transmitted to this embodiment for the sensor 119.
  • the control device 116 or the higher-level controller can convert a second time interval t F from the time difference between the first measuring signal S 1 and the last switching time Tuzn, therefore when the switching element 109 is converted from its actuating position A into the rest position B, is evaluated. If the first period of time exceeds the second time interval (tp), the monitoring device 132 generates the reset signal S NS before the end of the first period of time and activates the switching element 109 so that system pressure is applied to the component early in the direction of movement, as indicated by arrow 31 , Thereby, the actual movement time can be shortened when the target movement time T ßSO ii deviates from the actual movement time T ßlst .
  • the control deviation (e) between the target movement time Te so iiund actual movement time Tai st compensated by the control period ts D of the start pulse and the periods tp of the pulse pauses are set so that the Actual movement time T is equal to the setpoint movement time T BSOII and the component reaches the left end position within the predefined setpoint movement time Tsssoii.
  • the control duration ts D of the start pulse is extended and the periods tp shortened.
  • a signal S 2 is triggered on the sensor 119 and supplied to the control device 116, whereupon the switching element 109 at a switching time T UZA a subsequent switching signal S NS switched on and the pressure chamber 107 is controlled over a period TA with system pressure so that the component is essentially pressed only against the end position and held in position with a holding force. Since there is no control deviation in the third movement phase, the adjustment of the control duration ts D of the start pulse and the time intervals tp of the pulse pauses is maintained for all subsequent movement phases in the same direction of movement until a control deviation (e) is again calculated by changing the friction conditions.
  • the switching pulses over the time period t GB are regularly divided and the last switching pulse the switching element 109 just before the component reaches its end position, is switched.
  • the component runs against the end position, even before it has reached its maximum speed, as shown in Fig. 17 in dotted line.
  • the speed impressed on the component over the last switching pulse Tuz n at the changeover instant corresponds to only a fraction of the speed which the component in each case reaches via the preceding switching pulses to the respective switchover pulse. times is impressed, so that the end position is approached particularly gently.
  • the control duration ts D and the time period t GB or the time period tp of the pulse pauses is divided into the target movement time such that the switching time Tuz n coincides with the switching time TU ZA .
  • the last switching pulse passes directly to the reset pulse and the component is already driven against the end position via the last switching pulse and pressed against it with a holding force which is maintained by switching on the subsequent pulse over the time t A , as in the third movement phase is entered. Since the component has reached the end position monitored by the sensor 119 at the theoretical end time T J E, no monitoring signal St) is triggered by the control device 116. After the component has reached the end position, the aftershift signal SN S is triggered by response of the sensor 119 and supplied to the control device 116.
  • a correspondingly reversed activation of the switching element 109 takes place, as shown in Fig. 15 for the second movement phase, wherein the corresponding measurement signals S 1 , S 2 from the sensor 120, the Confirmation signal S B and start signal Sstart are triggered by the sensor 119.
  • the switching element 109 receives the first control signal for the start of the movement of the component from its left end position into the right end position again from the control device 116 or the higher-level control.
  • the right-hand control magnet 110 is actuated by the higher-order controller or control device 116 with the first control signal and is brought into the non-energized state, with the result that the switching element 109 at the start time Tstar t of the second movement phase moves from the inoperative position into the actuating position (C) entered in FIG. is connected, in which the pressure chamber 108 is connected to the pressure supply unit 114 and pressurized with system pressure, while the pressure chamber 107 is connected via the pressure line 113 with a vent line 125.
  • control time tso of the start pulse and time intervals tp of the pulse pauses are also calculated for this direction of movement, and second switching time Tuz 2 of switching element 109 is set accordingly in the fourth movement phase ,
  • the pressure chambers 107, 108 are each controlled via a switching element 133, 134.
  • These switching elements 133, 134 are preferably formed by 3/2-way valves.
  • FIGS. 1 and 2 Such an embodiment is shown in FIGS. 1 and 2 and the control method according to the invention can also be transferred to this embodiment.
  • the control of the switching elements 133, 134 via the control device 116 which in turn is connected via a first control line 14 with a control magnet of the left switching element 133 and a second control line 15 with a control magnet of the right switching element 134.
  • the associated timing diagram with the switching positions S SC H I , Sscm of the switching elements 133, 134 is shown in FIG.
  • control device is suitable for processing both control methods according to the invention.
  • the control and calculation algorithm of the two driving characteristics of the component are stored in the memory of the control device. After the first driving behavior - according to the embodiments of FIGS. 1 to 12b - the component should be moved as quickly as possible between the end positions, whereas after the second driving behavior - according to the embodiments of FIGS. 13 to 18 - the component moves at a targeted speed shall be.
  • the choice of driving behavior can be done in different ways.
  • the corresponding driving behavior is selected via an input and / or output device, in particular a computer (PC), or the higher-level control of the control device.
  • a user program is opened and output to the input and / or output device before commissioning the drive and selected by the fitter the desired driving behavior for the adjustment movement of the component in a first direction of movement and in a direction opposite to this movement direction.
  • associated control and calculation algorithm is activated and made the control of the drive in the manner described above. For example, the first driving behavior for the first movement direction and the second driving behavior for the other movement direction or either the first or second driving behavior for both directions of movement can be selected.
  • the driving behavior of the component is set dynamically.
  • the required cycle time is communicated by the higher-level, central control of the decentralized control device, which in turn makes the choice of the driving behavior based on the information of the available movement time.
  • a current work process may require a particularly low cycle time, so that the drives of the handling system are controlled for both directions of movement after the first driving behavior. If the cycle time is less critical, but certain other parameters must be adhered to the handling system, for example, must be a vibration-free positioning of the drives, at least one of the drives according to the second driving behavior is controlled.
  • the movable component can also be provided only with a control bar, which cooperates with a sensor arranged in the approaching end position. Such an embodiment is realized in those cases in which the component only has to be gently positioned against one of the end positions.
  • control edge 82 process step 33b control edge 83 block 100 drive

Abstract

L'invention concerne un mécanisme d'entraînement (1) à commande fluidique et un procédé de commande correspondant, comprenant des éléments déplaçables les uns par rapport aux autres, dont un élément est déplacé par l'intermédiaire d'un élément de commutation (10, 11) dans un premier sens de mouvement et dans un second sens de mouvement inverse, entre des positions finales. Dans une première phase de mouvement de l'élément, avant d'atteindre la position finale visée, un premier signal de mesure (S1) est détecté, à un moment (T1) et un second signal de mesure (S2) est détecté à un moment ultérieur (T2), par l'intermédiaire du système cosse de commutation-détecteur. Une période (t1réelle) est ensuite déterminée par le dispositif de commande (13), sur la base de la différence temporelle entre les signaux de mesure (S1, S2) et une variable de réglage est calculée pour un parmi deux moments de commutation de l'élément de commutation (10, 11), se succédant dans le temps, sur la base d'une comparaison théorique-réelle entre une période déterminée (t1théorique) et la période obtenue (t1réelle), par une unité de réglage pour parvenir en douceur à la position finale. Sur la base de la variable de réglage, un moment de commutation de l'élément de commutation (10, 11) est ajusté, dans une autre phase de déplacement de l'élément, intervenant après la première phase de déplacement, dans le même sens de déplacement.
PCT/AT2006/000193 2005-05-20 2006-05-11 Mecanisme d'entrainement a commande fluidique et procede de commande correspondant WO2006122339A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE502006007920T DE502006007920D1 (de) 2005-05-20 2006-05-11 Fluidisch betätigter antrieb sowie verfahren zur steuerung desselben
EP06721249A EP1882102B8 (fr) 2005-05-20 2006-05-11 Mecanisme d'entrainement a commande fluidique et procede de commande correspondant
AT06721249T ATE482338T1 (de) 2005-05-20 2006-05-11 Fluidisch betätigter antrieb sowie verfahren zur steuerung desselben

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ATA864/2005 2005-05-20
AT0086405A AT501935A1 (de) 2005-05-20 2005-05-20 Fluidisch betätigter antrieb sowie verfahren zur steuerung desselben

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010059107A1 (fr) * 2008-11-18 2010-05-27 Scania Cv Ab (Publ) Vérin pneumatique, et système et procédé pour commander celui-ci
WO2011009870A1 (fr) * 2009-07-20 2011-01-27 Ultronics Limited Aménagement de commande
EP2644904A1 (fr) * 2012-03-26 2013-10-02 Festo AG & Co. KG Procédé de commande d'un système de travail à actionnement fluidique et système de travail
WO2017213571A1 (fr) 2016-06-09 2017-12-14 Husqvarna Ab Agencement amélioré et procédé de fonctionnement d'un cylindre hydraulique
IT201600084066A1 (it) * 2016-08-09 2018-02-09 Safen Fluid And Mech Engineering S R L Procedimento per l'alimentazione di un'utenza pneumatica
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CN102227565A (zh) * 2008-11-18 2011-10-26 斯堪尼亚商用车有限公司 气动执行器、和用于控制该气动执行器的系统及方法
WO2010059107A1 (fr) * 2008-11-18 2010-05-27 Scania Cv Ab (Publ) Vérin pneumatique, et système et procédé pour commander celui-ci
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WO2011009870A1 (fr) * 2009-07-20 2011-01-27 Ultronics Limited Aménagement de commande
EP2644904A1 (fr) * 2012-03-26 2013-10-02 Festo AG & Co. KG Procédé de commande d'un système de travail à actionnement fluidique et système de travail
CN103362901A (zh) * 2012-03-26 2013-10-23 费斯托股份有限两合公司 用于操控可流体运行的工作系统的方法以及工作系统
CN103362901B (zh) * 2012-03-26 2016-04-06 费斯托股份有限两合公司 用于操控可流体运行的工作系统的方法以及工作系统
WO2017213571A1 (fr) 2016-06-09 2017-12-14 Husqvarna Ab Agencement amélioré et procédé de fonctionnement d'un cylindre hydraulique
EP3469219A4 (fr) * 2016-06-09 2020-01-29 Husqvarna AB Agencement amélioré et procédé de fonctionnement d'un cylindre hydraulique
US11401958B2 (en) 2016-06-09 2022-08-02 Husqvarna Ab Arrangement and method for operating a hydraulic cylinder
EP4279666A3 (fr) * 2016-06-09 2024-02-21 Husqvarna AB Agencement et procédé améliorés pour faire fonctionner un vérin hydraulique
IT201600084066A1 (it) * 2016-08-09 2018-02-09 Safen Fluid And Mech Engineering S R L Procedimento per l'alimentazione di un'utenza pneumatica
US20220001502A1 (en) * 2018-10-10 2022-01-06 Festo Se & Co. Kg Movement apparatus, tire handling apparatus and method for operation of a fluidic actuator

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EP1882102B8 (fr) 2010-11-17
EP1882102A1 (fr) 2008-01-30
AT501935A1 (de) 2006-12-15
ATE482338T1 (de) 2010-10-15
DE502006007920D1 (de) 2010-11-04

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