WO2016188975A1 - Procédé de détermination de paramètres de fonctionnement d'un actionneur, dispositif de commande et actionneur doté d'un élément positionnable - Google Patents

Procédé de détermination de paramètres de fonctionnement d'un actionneur, dispositif de commande et actionneur doté d'un élément positionnable Download PDF

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Publication number
WO2016188975A1
WO2016188975A1 PCT/EP2016/061627 EP2016061627W WO2016188975A1 WO 2016188975 A1 WO2016188975 A1 WO 2016188975A1 EP 2016061627 W EP2016061627 W EP 2016061627W WO 2016188975 A1 WO2016188975 A1 WO 2016188975A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
electric motor
operating
variable
comparison
Prior art date
Application number
PCT/EP2016/061627
Other languages
German (de)
English (en)
Inventor
Richard Schneider
Matthias Wahler
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2016188975A1 publication Critical patent/WO2016188975A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/39—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using a combination of the means covered by at least two of the preceding groups G05B19/21, G05B19/27 and G05B19/33
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37261—Encoder and potentiometer to detect fault measurement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37304—Combined position measurement, encoder and separate laser, two different sensors

Definitions

  • the present invention relates to a method for determining operating variables of an actuator with a positionable element, such as, for example, an electromechanical or electrohydraulic axis, a drive device for an actuator with a positionable element and such an actuator.
  • a positionable element such as, for example, an electromechanical or electrohydraulic axis
  • An electro-hydraulic axle is a hydraulic drive with a motor, a hydraulic pump and a hydraulic cylinder, in which an electrical or electronic control, for example, the position of the cylinder or its piston is possible.
  • Such electro-hydraulic axes are used, for example, for so-called. Deep drawing presses, injection molding machines or even in other forming machines.
  • electromechanical axles where the axle is driven by the engine and a gearbox.
  • An inventive method is used to determine operating variables of an actuator with positionable element that is movable by means of an electric motor.
  • an operating variable of the electric motor and an operating variable of the element are detected, and from the operating variable of the electric motor, a comparison variable corresponding to the operating variable of the element is determined.
  • the invention makes use of the fact that, in the case of actuators with a positionable element, in addition to a measuring device for an operating variable of the element, a measuring device for an operating variable of the electric motor is also provided which, for example, is used for proper actuation. tion of the electric motor is used. If, from the operating variable of the electric motor, a comparison variable is determined which comprises the same information content as the operating variable of the element, two values for the operating variable of the positionable element which are obtained in different ways and, above all, based on different sources, are available. For example.
  • a signal with a higher safety level regarding the operating variable of the element can then be obtained by combination with the comparison variable.
  • An additional measuring device on the element or a more expensive measuring device with a higher safety level is therefore not necessary.
  • the comparison variable is preferably determined from the operating variable of the electric motor by means of a control-technical observer, a system model and / or a weighting.
  • a dynamic model for a route model or an observer can be used for which model a transmission function can be determined which determines one or more output values from one or more input variables.
  • Such a transfer function can be implemented, for example, as a calculation algorithm in a computing unit.
  • parameters of the actuator are taken into account in the control-technical observer, the system model or the weighting. This allows the most accurate prediction of the comparison variable.
  • Relevant parameters or parameters are, for example, in the case of an actuator designed as an electrohydraulic axis, a pump demand volume, dimensions of pipes and hoses, dimensions of hydraulic cylinders, and the like.
  • electromechanical axes, gear ratios and the like may be relevant here, for example.
  • a dual-channel monitoring of the actuator is performed based on the operating size of the element and the comparison variable.
  • Such dual-channel monitoring here means that the relevant quantities are provided on two separate channels or paths and / or come from two different sources, as has already been mentioned at the outset.
  • a safe operation of the actuator can be ensured by, for example, the operation of the actuator and thus the positionable element is stopped in the context of such monitoring, if a difference of the two operating variables determined and / or a specified limit of one of the two operating variables or their Difference is exceeded.
  • a safe value for the operating variable of the element is determined on the basis of the operating variable of the element and the comparison variable.
  • a safe value should be understood as meaning a value which has a higher safety level (SIL) than the output values used for this value, ie. in the present case, the values of the operating variable of the element and the comparison variable.
  • SIL safety level
  • a higher SIL value can be determined by combination. For example. can be determined from two SIL 2 values a SIL 3 value. With a sufficiently accurate comparison value, it is thus possible to obtain a safe measurement with required SIL without replacing a measuring device for the operating size of the element and without additional measuring device.
  • the operating variable of the element comprises a movement variable, in particular a position, a speed or an acceleration.
  • a movement variable in particular a position, a speed or an acceleration.
  • These are usually recorded operating variables of such an element.
  • a displacement transducer is used for detection, with which not only one position but, for example, also a speed and an acceleration can be detected.
  • a secure speed determination and / or position determination of the element can be performed.
  • the operating variable of the electric motor comprises a movement variable, in particular a rotational speed or a rotation angle.
  • a motor encoder is used, which can detect both a rotation angle and a rotational speed with sufficient accuracy.
  • an electro-hydraulic axis is used as the actuator, in which by means of the electric motor and a hydraulic pump, a comprehensive hydraulic element consumer is operated.
  • electro-hydraulic axes are frequently used actuators. In particular, by the hydraulic electrohydraulic axes often have a very compact design.
  • the comparison variable is determined from the operating variable of the electric motor taking into account at least one state variable of the electrohydraulic axis, in particular a temperature, a pressure, a compressibility and / or a leakage of a hydraulic fluid.
  • at least one state variable of the electrohydraulic axis in particular a temperature, a pressure, a compressibility and / or a leakage of a hydraulic fluid.
  • hydraulic components plays the hydraulic fluid or its properties an important role for the implementation of the motor movement in the movement of the element. The more precisely these properties are taken into account in the determination of the comparison quantity, the more precisely does the comparison value agree with the actual value of the associated operating quantity of the element.
  • a pressure change of a hydraulic fluid is detected and used in particular for monitoring the actuator. For example.
  • a pressure pulsation in the hydraulic fluid caused by the hydraulic pump can be detected.
  • a possible malfunction of the hydraulic pump can be inferred, and the pump or the entire electrohydraulic axle can possibly be brought into a safe state.
  • an electromechanical axis is used as the actuator in which the element is moved by means of the electric motor and a transmission.
  • electromechanical axes are often used for various applications.
  • a purely mechanical transmission of the motor movement in the linear movement of the element is, for example, low maintenance.
  • a drive device according to the invention is suitable for an actuator with a positionable element, which can be moved by means of an electric motor, and is set up to carry out a method according to the invention.
  • An actuator according to the invention with a positionable element, which can be moved by means of an electric motor, has a drive device according to the invention.
  • a sensor for detecting the operating variable of the element and on the electric motor a sensor for detecting the operating variable of the electric motor is provided on the actuator.
  • actuators for example, in deep-drawing presses, bending presses, baling presses, scrap presses, forging presses, fine blanking presses, fiber composite presses, rolling mills, metallurgical plants, injection molding machines, blow molding machines, die casting machines, machining centers, testing machines, simulators, shaft compensators, servo presses, pipe and wire bending machines, Press brakes, punching and
  • FIG. 1 a shows schematically an electromechanical axis designed actuator with positionable element.
  • FIG. 1 b schematically shows the sequence of a method according to the invention in a preferred embodiment.
  • FIG. 2 a shows schematically an actuator designed as an electrohydraulic axis with a positionable element.
  • FIG. 2b schematically shows the sequence of a method according to the invention in a further preferred embodiment.
  • FIG. 3 a shows schematically an actuator designed as an electrohydraulic axis with a positionable element.
  • FIG. 3b schematically shows the sequence of a method according to the invention in a further preferred embodiment.
  • FIG. 1 a shows schematically an actuator designed as an electromechanical axis 100.
  • An electric motor 120 is connected via a gear 130 with a positionable element 1 10.
  • the transmission 130 may have a gear ratio via gears, pulleys and belts and / or a worm gear.
  • a An horrinvornchtung 105 is provided, for example.
  • a drive controller or a safety controller via which the electric motor 120 can be controlled.
  • a sensor 1 15 for detecting a position and / or speed as an operating variable of the element 1 10 and a sensor 125 for detecting a rotational speed and / or a rotational angle as an operating variable of the electric motor 120 are provided.
  • the two sensors 1 15 and 125 are connected to the An horrvornchtung 105, so that the An horrvornchtung 105 can detect the operating variables measured by the sensors.
  • the connection of the sensors 1 15 and 125 to the Anberichtnchtung 105 can be wired or wireless, for example. By radio. FIG.
  • step 150 measured values which are measured by the sensor 15 at the positionable element 110 are detected or received. For example. This can be a current position or velocity of the element.
  • step 155 these measured values are then supplied to monitoring or monitoring is carried out with regard to the operating variable measured by the sensor 15.
  • step 160 measured values measured by the sensor 125 on the electric motor 120 are detected. For example. This can be a current speed or a current angle of rotation. Subsequently, in a step 161, a weighting of these measured values is carried out. In such a weighting, in particular the translation of the transmission 130 between the electric motor 120 and the element 110 is considered. Possibly. In addition, a game in the gear 130 may be considered, which may affect depending on the direction of movement of the element 1 10. These weighted measured values then correspond to comparison values to the measured values acquired in step 150 or by the sensor 15. That For example, from a rotational speed of the electric motor 120, a speed of the positionable element 110 is determined. Likewise, from a rotational angle of the electric motor 130, a position of the element 1 10 can be determined.
  • the measured values of the sensor 15 or the comparison values which were obtained by the control-technical observer or the route model can optionally be made plausible against each other. This can be used, for example, as a diagnostic function for fault detection during measured value acquisition.
  • a step 165 these weighted measured values or comparison values are then fed to a monitoring.
  • two monitoring channels, 155 and 165 are available for an operating size of the positionable element.
  • These two monitoring channels use different sources.
  • a safe signal in the sense of a Safety Integrity Level (SIL) can be made available.
  • SIL Safety Integrity Level
  • a signal with a higher SIL eg corresponding to SIL 1, SIL 2 or SIL 3
  • SIL SIL 1 or SIL 2
  • the advantage here is that no additional sensor on the element or no expensive sensor with higher security level is required on the element.
  • FIG. 2 a shows schematically an actuator designed as an electrohydraulic axis 200.
  • An electric motor 220 is connected to a hydraulic pump 230.
  • the hydraulic pump 230 in turn is connected via a hydraulic circuit to a hydraulic consumer having a positionable element 210.
  • the hydraulic consumer may, for example, be a hydraulic cylinder and the element 210 accordingly a movable piston.
  • a drive device 205 is provided, for example in the form of a drive controller or a safety controller, via which the electric motor 220 can be controlled.
  • a sensor 215 for detecting a position and / or speed as an operation amount of the element 210 and a sensor 225 for detecting a rotation speed and / or a rotation angle as an operation amount of the electric motor 220 are provided.
  • the two sensors 215 and 225 are connected to the drive device 205, so that the drive device 205 can detect the operating variables measured by the sensors.
  • the connection of the sensors 215 and 225 to the control device 205 can be wired or wireless, for example. By radio.
  • FIG. 2b schematically shows the sequence of a method according to the invention in a further preferred embodiment, as can be carried out, for example, in the drive device 205 shown in FIG. 2a.
  • step 250 measured values measured by the sensor 215 on the positionable element 210 are detected. For example. This can be a current position or velocity of the element.
  • step 260 measured values measured by the sensor 225 on the electric motor 220 are detected. For example. This can be a current speed or a current angle of rotation.
  • these measured values are fed in a step 261 to a control-technical observer and / or a route model.
  • parameters or parameters of the hydraulic axis 200 are taken into account in such a control-related observer or a track model. These include, for example, a pump delivery volume of the hydraulic pump 230, dimensions of pipes and hoses in the hydraulic circuit and dimensions of the hydraulic cylinder and the piston or the element 1 10.
  • Compressibility of the hydraulic fluid and especially leaks in the hydraulic circuit be taken into account.
  • state variables such as, for example, the temperature and pressure of the hydraulic axis or the hydraulic fluid can be taken into account in order to obtain more accurate comparison values.
  • parameters or parameters can be stored, for example, in tables by means of which input and output values of the system model are mapped. Values for such a table can, for example, also be determined and / or adapted in one or more learning cycles. Likewise, an arithmetic calculation is conceivable.
  • weighted measured values correspond to comparison values to the measured values acquired in step 250 or by the sensor 215. That For example, a speed of the positionable element 210 is determined from a rotational speed of the electric motor 220. Likewise, from a rotation angle of the electric motor 230, a position of the element 210 can be determined.
  • the measured values of the sensor 215 or the comparison values which were obtained by the control-technical observer or the route model can optionally be plausibilized against each other. This can be used, for example, as a diagnostic function for fault detection during measured value acquisition.
  • a step 255 the measured values are then fed to a monitoring or a monitoring is carried out with regard to the operating variable measured by the sensor 215.
  • the comparison values are likewise fed to a monitoring.
  • FIG. 3 a shows schematically an actuator designed as an electrohydraulic axis 200, which essentially corresponds to that from FIG. 2 a.
  • a pressure sensor 245 is additionally provided in the hydraulic circuit, which is capable of detecting pressure changes, in particular pressure pulsations, and supplying them to the drive device 205. It is understood that the pressure sensor can also be arranged at another suitable location.
  • FIG. 3b schematically shows the sequence of a method according to the invention in a further preferred embodiment, as can be carried out, for example, in the drive device 205 shown in FIG. 3a.
  • the method corresponds to the method explained with reference to FIG. 2b, but with the difference that in a step 270 in the drive device the pressure or pressure changes which are measured by the pressure sensor 245 are detected.
  • a step 275 these pressure changes, in particular pressure pulsations, are supplied to a diagnosis.
  • the measured values of the sensor 225 recorded in step 260 can also be supplied to the diagnosis.
  • the frequency of the pressure pulsation can be compared with the rotational speed of the electric motor or plausible against one another. During proper operation, this frequency of the pressure pulsation and the speed of the electric motor should fit together or be plausible. In this way, further monitoring of the electro-hydraulic axis can be made.
  • errors can be detected, in particular in connection with the pump, the hydraulic fluid and the comparison values dependent thereon, which are determined in the observer or track model. If necessary, so for example.
  • the electro-hydraulic axle can be switched off or stopped.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

L'invention concerne un procédé de détermination de paramètres de fonctionnement d'un actionneur (200) pourvu d'un élément (210) positionnable qui est mobile au moyen d'un moteur électrique (220), un paramètre de fonctionnement du moteur électrique (220) et un paramètre de fonctionnement de l'élément (210) étant détectés ; et un paramètre de référence correspondant au paramètre de fonctionnement de l'élément (210) étant déterminé à partir du paramètre de fonctionnement du moteur électrique (220). L'invention concerne également un dispositif de commande (205) pour un tel actionneur (200), et un tel actionneur (200).
PCT/EP2016/061627 2015-05-26 2016-05-24 Procédé de détermination de paramètres de fonctionnement d'un actionneur, dispositif de commande et actionneur doté d'un élément positionnable WO2016188975A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015209574.6 2015-05-26
DE102015209574.6A DE102015209574A1 (de) 2015-05-26 2015-05-26 Verfahren zum Ermitteln von Betriebsgrößen eines Aktors, Ansteuervorrichtung und Aktor mit positionierbarem Element

Publications (1)

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WO2016188975A1 true WO2016188975A1 (fr) 2016-12-01

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PCT/EP2016/061627 WO2016188975A1 (fr) 2015-05-26 2016-05-24 Procédé de détermination de paramètres de fonctionnement d'un actionneur, dispositif de commande et actionneur doté d'un élément positionnable

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DE (1) DE102015209574A1 (fr)
WO (1) WO2016188975A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6584367B1 (en) * 1999-07-02 2003-06-24 Sumitomo Heavy Industries, Ltd. Stage position control method and stage position control apparatus capable of improving positioning precision
WO2015063912A1 (fr) * 2013-10-31 2015-05-07 エンシュウ株式会社 Procédé de détermination de précision de positionnement, dispositif de détermination de précision de positionnement, et programme de détermination de précision de positionnement

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6584367B1 (en) * 1999-07-02 2003-06-24 Sumitomo Heavy Industries, Ltd. Stage position control method and stage position control apparatus capable of improving positioning precision
WO2015063912A1 (fr) * 2013-10-31 2015-05-07 エンシュウ株式会社 Procédé de détermination de précision de positionnement, dispositif de détermination de précision de positionnement, et programme de détermination de précision de positionnement

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