WO2012041536A1 - Système de commande à pression de fluide - Google Patents

Système de commande à pression de fluide Download PDF

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Publication number
WO2012041536A1
WO2012041536A1 PCT/EP2011/055244 EP2011055244W WO2012041536A1 WO 2012041536 A1 WO2012041536 A1 WO 2012041536A1 EP 2011055244 W EP2011055244 W EP 2011055244W WO 2012041536 A1 WO2012041536 A1 WO 2012041536A1
Authority
WO
WIPO (PCT)
Prior art keywords
passage
opening
valves
control system
pressure
Prior art date
Application number
PCT/EP2011/055244
Other languages
German (de)
English (en)
Inventor
Ville Hopponen
Juhani Toppari
Original Assignee
Metso Paper, Inc.
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 Metso Paper, Inc. filed Critical Metso Paper, Inc.
Publication of WO2012041536A1 publication Critical patent/WO2012041536A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • 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"
    • F15B11/0426—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" by controlling the number of pumps or parallel valves switched on
    • 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
    • F15B2211/30575—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 in a Wheatstone Bridge arrangement (also half bridges)
    • 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
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40576—Assemblies of multiple valves
    • F15B2211/40592—Assemblies of multiple valves with multiple valves in parallel flow paths
    • 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
    • F15B2211/625—Accumulators
    • 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

Definitions

  • the invention relates to a fluid pressure control system and preferably relates to a fluid pressure control system for pressure control in a fluid system of a machine for producing a fibrous web, such as a paper or board machine.
  • working fluid e.g., hydraulic oil, air, water, various gases, or emulsions of the foregoing fluids
  • actuators are hydraulically driven, with which large forces can be set and exercised with high accuracy.
  • a working fluid e.g. Hydraulic oil used
  • a pump which pressurizes the working fluid
  • a hydraulic actuator e.g. A hydraulic cylinder or a hydraulic motor
  • proportional valve proportional control valve
  • digital hydraulic pressure regulators typically controlled via an electrically, hydraulically or pneumatically driven proportional valve (proportional control valve) or, more recently, via digital hydraulic pressure regulators.
  • a digital hydraulic pressure regulator consists in the simple case of a series of parallel connected, digitally controlled valves, which have only an open / close function; So are simple ON / OFF switching valves that allow or interrupt a flow and can be consistently referred to in this application as valves.
  • the valves are all with a common supply line on the one hand and with a common On the other hand connected output line.
  • the valves themselves may be conventional solenoid valves, ie valves with electromagnetic drive. Of course, other forms of drive can be chosen.
  • valves By connecting or installing throttle elements, or by the valves themselves, it is ensured that the valves have different flows when they are open. If, for example, four valves are provided, then the flow rates Q in the individual, in each case by the associated valve selectively releasable passages in the ratio of 1: 2: 4: 8 to each other; for a larger number of valves this series will continue accordingly.
  • a fluid pressure control system in particular for a fluid system of a machine for making a fibrous web, which cyclically passes through at least one digitally controlled pressure control passage in the fluid system, a control program that cycles through a program loop in which to determine if the passage is to be opened , and has a control component, preferably in the form of a pulse control or feedforward control, which drives the passage with a definable opening duration (duration for which the valve is to be opened) whose start time and end time are within one cycle.
  • a fluid pressure control system of a paper machine it is known to perform a pressure control by means of a digital hydraulic pressure regulator via binary output cards, ie with a card which sets the corresponding valves of the digital hydraulic pressure regulator to 0 for ZU or 1 for AUF.
  • a program loop of a control program which is executed cyclically, it is determined on the basis of an actual pressure whether one or more valves have to be opened in order to set a setpoint pressure in the fluid system. If so, the corresponding selected valves are set to 1 for the subsequent program cycle and remain open throughout the duration of the subsequent program cycle. At the end of this subsequent cycle, the control program again determines whether one or more valves are opened based on the current actual pressure to adjust an equal or changed setpoint pressure in the fluid system.
  • the valve to be opened or the valves to be opened are open for at least one cycle loop, so that the flow rate depends on the cycle time.
  • a control program with a relatively long cycle time for example 200 ms, and a forcibly associated relatively long opening time
  • this can lead to an actual pressure being increased / decreased too much, as a result of which subsequent correction may be necessary.
  • this relatively long cycle time it is not possible to take advantage of the short opening times of current valves, which are in the range of about 8 ms, i. there is a limit to low flow rates and thus fine adjustment of the pressure in the fluid system.
  • the fluid pressure control system now has the control component, which controls a digitally controlled passage, such as, for example, a digital hydraulic pressure regulator, with a definable opening duration whose start time and end time lie within a loop program of a control program.
  • the opening duration of the passage is thus no longer dependent on the cycle duration, but can be variably set to very short opening times (eg 1 to 10 ms).
  • very short opening times eg 1 to 10 ms.
  • a "passage" may consist of one or more components and optionally allows fluid to flow through it.
  • the passage may be formed, for example, by a single digitally controlled valve or by a digital hydraulic pressure regulator as initially described that is, by a plurality of digitally controlled valves that are connected in parallel and have different flow rates.
  • control component is a pulse control or feedforward control.
  • Pulse control means for example, a controller with a pulse output card, which controls the passage with opening pulses, for example in the range of 8-10 ms, wherein the pulse width and the number of pulses in a cycle can be variable.
  • the control component can also be realized in the form of a feedforward control, which additionally takes into account disturbance variables such as, for example, the outside temperature or fluid temperature when the opening duration is determined.
  • the control component can also be designed in any other form, for example as a specially configured electronic circuit.
  • the opening time can be set arbitrarily within the cycle time and, for example, so that the passage can open just 100% before it closes again. It is also possible, for example, to set the opening duration so that the passage can not open to 100%, for example only 50%, before it closes again. This makes it possible to exploit the short opening times of current valves and to obtain an extremely low flow rate through the passage.
  • the opening duration is set so that the passage is not 100% opened, even in the case where the passage has a relatively high maximum flow rate (for example, formed by relatively high maximum flow rate valves), it is possible to To achieve relatively low flow rates and thus an extremely fine adjustment of the pressure. Due to the possibility of extremely low flow rates Furthermore, an approximation of the digitally generated control curve to an analog control curve can be improved. In particular, with such a fluid pressure control system, it is also possible to improve the accuracy of the static pressure adjustment.
  • a relatively high maximum flow rate for example, formed by relatively high maximum flow rate valves
  • an analog control curve by the opening times for the valves are set so that they open differently wide, eg a ratio of 10%: 20%: 40%: 60%: 80%: 100%.
  • the opening time so that the valve can only open to 50% before it closes again, it is necessary to consider the inertia of the valve. For example, in a case where, for example, a valve is required to open 10 ms from the moment of actuation, the first 6 ms delay time in which the valve stem does not move while the valve stem moves approximately linearly during the last 4 ms, until the valve opens completely. In order to open just 50%, the valve in this example therefore requires 8 ms from its activation, the first 6 ms again being delay time in which the valve stem does not move and the opening movement takes place during the subsequent 2 ms. Taking into consideration this valve behavior, the opening times necessary to open the passageway just at 100% and at a percentage below 100%, respectively, can be learned by experiments or determined in advance.
  • valve opening time of a valve (here: time from drive to full open) is 10 ms as an example of a digitally controlled passage
  • duration of a loopback cycle to control the valve be at least 10 ms is, especially when using a binary output card as a control component.
  • the valve with the opening time of 10 ms must remain open at least for the 10 ms cycle time so that a quantity x of fluid flows through the valve. It is not possible in this case to obtain a smaller volume.
  • the control program or the hardware In order to obtain lower flow rates, it is now possible to adjust the control program or the hardware so that the loopback cycle is shorter than the opening time of the valve, in particular by a multiple of shorter.
  • the opening time of 10 ms of a full-opening valve is composed of 6 ms delay time and 4 ms movement time.
  • the loopback cycle time is set ten times shorter than the 10 ms open time of the valve, that is, set to 1 ms
  • a 50% valve opening can be achieved by cycling the valve for eight loopback cycles, which is 8 ms corresponds with, for example, the binary output card is driven to open.
  • the first 6 ms delay time is again in which the valve stem does not move, while the actual opening movement takes place during the following 2 ms. After expiry of these 2 ms, the valve is 50% open. The valve then enters the closing movement because the eight program loop cycles have expired and the valve no longer has an opening pulse specified by the control program.
  • the pressure adjustment accuracy increases, especially in a static pressure adjustment, such as in a paper machine
  • the opening duration is set so that a pressure difference of an actual pressure to a target pressure can be equalized with a single opening of the passage (with a single opening of one or more corresponding valves, if the passage is formed by a plurality of valves is).
  • a very fast pressure adjustment in the fluid system is possible.
  • the opening duration is predetermined as a function of a pressure difference to be compensated and optionally additionally a height of an actual pressure, preferably in the form of a characteristic diagram.
  • the opening duration can also be calculated as a function of the prevailing pressure conditions, ie the pressure difference to be compensated, which can be detected via corresponding sensors, as well as optionally additionally a height of an actual pressure.
  • system-specific opening times according to the pressure difference or the prevailing pressure level are determined, so that a fast and precise pressure adjustment can take place.
  • a fluid system such as a hydraulic system of a paper machine
  • the problem is that, after opening a passage to compensate for a pressure difference, the resulting pressure change can be detected only after a certain time.
  • the opening duration in dependence on a pressure difference to be compensated and optionally additionally a height of an actual pressure, for example, via a map is specified (ie there is a control of the pressure setting, in which the control program selects the opening duration, which is necessary is to balance a certain pressure difference at a certain pressure level in the fluid system), shorter valve opening durations than the delay time to the detection of the pressure change can be set, thus allowing a more accurate pressure adjustment compared to the conventional systems.
  • the quality of the pressure control can be further improved by the control system preferably determines only after the lapse of a waiting time, for example at least 20 ms, after activation of the passage by the control component, whether a target pressure in the fluid system has been reached, and if necessary, that is, if the target pressure has not yet been reached, allows a re-driving the passage.
  • the waiting time is preferably predetermined (depending on the system or valve specification) and at least as long (for example at least 20 ms) until a pressure change caused by opening the passage can be detected by the control system, for example by means of pressure sensors. This waiting ensures that it can be determined with high certainty whether opening the passage has produced the desired result, thereby avoiding unnecessary post-corrections.
  • control principle described above makes it possible to set the pressure very finely and very quickly, in particular in the case of a static pressure setting in a paper machine. Furthermore, the control described above is a mere program-technical measure, so that no hardware-related changes are required.
  • Another advantage of the embodiment described above is the use of the fluid system in interference-rich areas where the measurement signals, i. the signals for detecting a pressure, due to which interference must be strongly filtered, and therefore a pressure change caused by a passage opening can be detected even later than usual.
  • the adjustment principle described above is particularly suitable for the fine adjustment of the pressure level, while the coarse adjustment can be carried out with the regulation described above (ie, opening the passage until it has been detected that the pressure has increased sufficiently), since this control is particularly for strong pressure fluctuations suitable.
  • the control component repeatedly drives the passage within one cycle for the opening duration, wherein the length of the opening duration may vary from drive to drive and the respective start time and end time of the opening duration are within the cycle. This makes it possible to obtain very low flow rates, for example by repeatedly opening the passage to 10%.
  • the passage may comprise at least two series-connected digitally controlled valves, wherein the control component activates the valves for opening, whose opening times and closing times are set such that the valves are opened simultaneously only for the opening duration.
  • the control component activates the valves for opening, whose opening times and closing times are set such that the valves are opened simultaneously only for the opening duration.
  • a closing timing of the upstream valve and an opening timing of the downstream valve are set in consideration of the inertia of the valves, so that an extremely accurate determination of the flow rate and thus the pressure setting is possible.
  • the upstream valve is already in the closing movement when the downstream valve begins its opening movement. This makes it possible to achieve extremely low flow rates.
  • the passage comprises a plurality of digitally controlled valves connected in parallel and having maximum flow rates in a certain relationship, preferably in a 1: 2: 4: 8: ... series ratio, depending on the number of valves.
  • the control component controls one or more of the valves with the definable opening duration, whose starting time and / or end time may be set differently for each valve, in order to obtain a desired passage volume or flow rate.
  • the invention also relates to a fluid pressure control method for a fluid system according to the structure described above, i. at least one digitally controlled pressure control passage in the fluid system, the method comprising the steps of:
  • Fluid pressure control method is used for pressure control of a cylinder (eg differential cylinder) of a paper machine, it is advantageous for flow measurement in the fluid system to use a linear sensor or a sensor for linear displacement detection, if the movement of the piston is controlled within an accuracy range of 2 pm.
  • FIG. 1 shows an exemplary section of a hydraulic system in which the fluid pressure control system according to the invention is used according to the invention.
  • Fig. 2 is a diagram illustrating a possible determination of opening times and closing times of two series-connected digitally controlled valves.
  • Fig. 1 schematically shows a portion of a hydraulic system of a paper machine (example of a fluid system) having a supply section 1, a digital hydraulic pressure regulator 4 and a hydraulic differential cylinder 3 for adjusting a roller in the paper machine.
  • the supply section 1, which includes a pressure accumulator 11, a pump port 16 and a tank 20, supplies the digital hydraulic pressure regulator 4 to operate the differential cylinder 3.
  • the pressure regulator 4 has two regulator sections 41, 42, each of which may be considered as an example of a digitally controlled passage and consist of a plurality of parallel and digitally controlled valves.
  • Sensors 19 detect the pressure in the two pressure chambers 31 and 34 of the differential cylinder 3, which are separated by a piston 33 with a piston rod 36.
  • the pressure in the rod-side pressure chamber 31 acts on the rod-side piston surface, while the pressure in the piston-side pressure chamber 34 presses on the piston surface 35.
  • the regulator sections 41 and 42 the filling amount and pressure in the two pressure chambers 31 and 34 can be adjusted so that the piston rod 36 in the desired position and with the desired force with a machine element connected thereto (not shown) cooperates.
  • the pressure in the pressure supply 1, from which the cylinder 3 is to be controlled, is measured by means of the pressure sensor 14 and, based thereon, the target pressure in the pressure chambers 31 and 34 is set. Furthermore, 45 designates an overflow valve, which allows a connection of the two pressure chambers 31 and 34 optionally.
  • This hydraulic system is controlled by the fluid pressure control system of the present invention as follows.
  • the control program cycles through a program loop. In each cycle, it is determined on the basis of actual pressures in the pressure chambers 31, 34, which are detected by means of the sensors 19, if necessary, the regulator sections 41, 42 or individual valves of these regulator sections 41, 42 to reach a certain target pressure in the two pressure chambers 31 and 34 of the differential cylinder 3 to open.
  • a suitable valve or a suitable valve combination ie valves with a suitable flow rate, are selected and a suitable opening duration for the valve or the valve combination is determined.
  • the valve or the valves and their opening duration (s), which are necessary to compensate for a pressure difference at a certain pressure level (actual pressure), can be stored in a map.
  • valve can be selected from the controller section 41 or 42 with the lowest flow rate and a correspondingly suitable opening time can be set, for example, so that the valve does not open completely.
  • control component for example in the form of a pulse output card, then controls the regulator sections 41 and 42 so that the selected valves open for the definable opening duration. (Different opening times for the valves can also be specified).
  • the start time and end time of the opening duration of each valve is within this subsequent cycle.
  • actuation of the valves is waited for a predetermined waiting time, for example, 20 ms, before it is determined whether the desired target pressure has been reached by opening the valves. If the target pressure has not been reached or if in the meantime a renewed pressure change has become necessary, in the following cycle again a suitable valve or a suitable valve combination selected and controlled with the appropriate opening duration.
  • FIG. 2 shows by way of example a control of two series-connected digitally controlled valves, which can form a passage or a part thereof (this valve arrangement can also be included, for example, in the arrangement shown in FIG. 2, ie be part of a regulator section).
  • This valve arrangement can also be included, for example, in the arrangement shown in FIG. 2, ie be part of a regulator section).
  • the timing of the opening / closing timings of the valves is determined taking into account the inertia of the valves VI, V2.
  • the upstream valve VI opens at a time V1 TA and closes at a time V1 TE
  • the downstream valve V2 opens at a time V2 TA and closes at a time V2 TE
  • Timing of the opening / closing times such that the upstream valve VI is already in the closing movement, ie shortly before the closing time V1 TE of the upstream valve VI, when the downstream valve begins to open at the time V2 TA .
  • the time between the opening time V2 TA of the downstream valve V2 and the closing time V1 T E of the upstream valve VI is the time during which both valves are opened simultaneously and thus a flow through the two valves is obtained.
  • the hatched area in FIG. 2 corresponds to the flow rate obtained under the two opening curves.
  • a desired flow rate and, in particular, a very low flow rate can be set.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Fluid Pressure (AREA)

Abstract

L'invention porte sur un système de commande à pression de fluide comprenant au moins un passage à commande numérique destiné à la commande de la pression dans un système fluidique, un programme de commande qui parcourt cycliquement une boucle de programme dans laquelle il est déterminé si le passage doit être ouvert, ainsi qu'un composant de commande qui pilote le passage avec une durée d'ouverture pouvant être fixée, dont l'instant initial et l'instant final se trouvent dans les limites d'un cycle.
PCT/EP2011/055244 2010-09-27 2011-04-05 Système de commande à pression de fluide WO2012041536A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010041479.4 2010-09-27
DE102010041479 2010-09-27

Publications (1)

Publication Number Publication Date
WO2012041536A1 true WO2012041536A1 (fr) 2012-04-05

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PCT/EP2011/055244 WO2012041536A1 (fr) 2010-09-27 2011-04-05 Système de commande à pression de fluide

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DE (1) DE102011007081A1 (fr)
WO (1) WO2012041536A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002086327A1 (fr) * 2001-04-23 2002-10-31 Matti Linjama Systeme de commande et procede permettant de commander un actionneur et d'optimiser la commande a l'aide d'ensembles de valves montees en parallele
US7367219B1 (en) * 2006-12-28 2008-05-06 Honda Motor Co., Ltd. Automatic control of leak test unit during testing and analysis of an engine
WO2009077650A1 (fr) 2007-12-14 2009-06-25 Metso Paper, Inc. Procédé de gestion des défauts survenant au cours de la fabrication d'une bande de matériau

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002086327A1 (fr) * 2001-04-23 2002-10-31 Matti Linjama Systeme de commande et procede permettant de commander un actionneur et d'optimiser la commande a l'aide d'ensembles de valves montees en parallele
US7367219B1 (en) * 2006-12-28 2008-05-06 Honda Motor Co., Ltd. Automatic control of leak test unit during testing and analysis of an engine
WO2009077650A1 (fr) 2007-12-14 2009-06-25 Metso Paper, Inc. Procédé de gestion des défauts survenant au cours de la fabrication d'une bande de matériau

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
FLUID, 2008, pages 12 - 13

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