WO2023016969A1 - Verfahren zum ermitteln von ansteuermodell-parametern eines ansteuermodells einer axialkolbenpumpe - Google Patents
Verfahren zum ermitteln von ansteuermodell-parametern eines ansteuermodells einer axialkolbenpumpe Download PDFInfo
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- WO2023016969A1 WO2023016969A1 PCT/EP2022/072200 EP2022072200W WO2023016969A1 WO 2023016969 A1 WO2023016969 A1 WO 2023016969A1 EP 2022072200 W EP2022072200 W EP 2022072200W WO 2023016969 A1 WO2023016969 A1 WO 2023016969A1
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- operating
- safety
- control
- control model
- model parameters
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000008859 change Effects 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 7
- 230000001419 dependent effect Effects 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 230000006870 function Effects 0.000 description 6
- 230000006399 behavior Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000009826 distribution Methods 0.000 description 4
- 230000002706 hydrostatic effect Effects 0.000 description 3
- 238000013507 mapping Methods 0.000 description 3
- 230000015654 memory Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000007476 Maximum Likelihood Methods 0.000 description 1
- 230000036528 appetite Effects 0.000 description 1
- 235000019789 appetite Nutrition 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000013145 classification model Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
- F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
- F04B1/26—Control
- F04B1/28—Control of machines or pumps with stationary cylinders
- F04B1/29—Control of machines or pumps with stationary cylinders by varying the relative positions of a swash plate and a cylinder block
- F04B1/295—Control of machines or pumps with stationary cylinders by varying the relative positions of a swash plate and a cylinder block by changing the inclination of the swash plate
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
- F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
- F04B1/26—Control
- F04B1/28—Control of machines or pumps with stationary cylinders
- F04B1/29—Control of machines or pumps with stationary cylinders by varying the relative positions of a swash plate and a cylinder block
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
- F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
- F04B1/26—Control
- F04B1/30—Control of machines or pumps with rotary cylinder blocks
- F04B1/32—Control of machines or pumps with rotary cylinder blocks by varying the relative positions of a swash plate and a cylinder block
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
- F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
- F04B1/26—Control
- F04B1/30—Control of machines or pumps with rotary cylinder blocks
- F04B1/32—Control of machines or pumps with rotary cylinder blocks by varying the relative positions of a swash plate and a cylinder block
- F04B1/324—Control of machines or pumps with rotary cylinder blocks by varying the relative positions of a swash plate and a cylinder block by changing the inclination of the swash plate
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/002—Hydraulic systems to change the pump delivery
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/10—Other safety measures
Definitions
- the present invention relates to a method for determining control model parameters of a control model of an axial piston pump and a computing unit and a computer program for its implementation.
- a hydrostatic drive usually has a primary variable displacement pump and a secondary variable displacement motor.
- the interconnection of the primary and secondary unit can be configured both in a closed and in an open circuit.
- the primary and secondary units are adjusted either separately or coupled. This results in a speed on the secondary side that is proportional to the volume flow.
- the working pressure adjusts according to the load torque and is usually limited by a pressure relief valve.
- the delivery volume flow is set by adjusting the swivel angle.
- the adjustment takes place e.g. via a hydraulic cylinder.
- Its chamber pressure can be regulated via a pressure control valve.
- the pump has a load-sensitive behavior, so that the swash plate is swiveled back by the working pressure, more precisely by the differential pressure acting on it. This relationship between working pressure, control pressure and swivel angle can be used to control the axial piston pump and thus the travel drive.
- the control model models at least one control variable of the adjustment unit as a function of operating variables, operating points of the axial piston pump being characterized (or defined) in each case by specific operating values of the operating variables.
- the set of operating points defines an n-dimensional space, whereby it is not clear a priori at which operating points in this space the axial piston pump is safe or error-free, i.e. without operation being interrupted due to an error (e.g. overpressure) and without, in extreme cases Damage occurs, is operable. It is therefore not known from the outset how exactly the space is divided into safe and unsafe operating points. This is due to the fact that series fluctuations within the production tolerances can lead to different operating behavior.
- the invention uses the measure to use a safety model in addition to the control model, which is a model for safety of operating points, which therefore allows a statement to be made as to whether or not safe operation at an operating point is (probably) possible.
- a safety model in addition to the control model, which is a model for safety of operating points, which therefore allows a statement to be made as to whether or not safe operation at an operating point is (probably) possible.
- further operating points are selected such that on the one hand a variance of the control model is maximized and on the other hand the probability that the further operating point is a safe operating point is above a specified safety threshold.
- the models (control model, safety model) are then adjusted based on the further operating point.
- Control model parameters of a control model of an axial piston pump are determined in detail.
- the delivery volume is changed by changing a swivel angle using an adjustable swash plate.
- an adjustment force of an adjustment unit of the axial piston pump which is dependent on an actuating pressure, acts on the swash plate.
- a pressure force resulting from a working pressure of the axial piston pump also acts on the swash plate.
- Operating variables can be, for example: the speed of the axial piston pump, the swivel angle of the swash plate or the working pressure, i.e. the pressure difference of the pressures that are present in the working lines connected to the axial piston pump, between which the axial piston pump delivers the hydraulic fluid.
- a measurable quantity of elements connected to the axial piston pump can also be used; e.g. a speed of a hydraulic motor connected to the working lines.
- first and/or second time derivatives of these aforementioned operating variables/variables can also be used as operating variables.
- the method includes providing initial control model parameters of the control model and an operating state set, which includes a plurality of initial first operating points; and providing initial safety model parameters of a safety model based on a safety set set that includes a plurality of initial second operating points and associated safety values, the safety model modeling a safety variable as a function of the operating variables, which enables a statement to be made as to whether error-free operation at the respective operating point is possible or not possible.
- initial models or their model parameters are provided, based on which the further method steps are carried out.
- the initial control model parameters and the initial operating state quantity form a safe starting point for the further process, which is determined, for example, by means of a physical simulation of the axial piston pump.
- the initial safety model parameters and the initial safety set set allow an assessment of safety when further operating points are subsequently selected.
- the sets of the initial first operating points and the initial second operating points are independent of one another, ie the initial second operating points do not (but can, at least in part) be identical to the initial first operating points.
- the initial first operating points should be operating points at which error-free operation is possible. This need not be the case for the initial second operating points.
- the method also includes determining or selecting a further operating point that is not yet included in the operating state set once or several times, with the further operating point being determined such that a variance of the control model is maximized under the condition that a probability obtained by the safety model that error-free operation at the further operating point is not possible is less than or equal to a predetermined safety threshold; updating the operating state set and the control model parameters of the control model, taking into account the further operating point; and updating the security set set and the security model parameters of the security model taking into account the further operating point.
- the further operating point is selected from the set of all operating points that are not yet included in the operating state set and whose probability obtained by the safety model that error-free operation at the further operating point is not possible is less than or equal to a specified safety threshold, the selection from this set being made in such a way that the variance of the drive model is maximized.
- the variance of the control model can be determined from the uncertainty of the prediction model for the operating points. If Gaussian processes are used, the prediction provides a mean and a variance.
- the probability that error-free operation is possible or not possible for an operating point is obtained by applying the safety model (considered as a mapping) to the respective operating point and the estimated safety value obtained in this way, possibly taking into account the distribution of an error term with the safety threshold is compared.
- the distribution of an error term can also be determined in the model, for example in regression models.
- a (partial) security value S can be calculated from this, for example, as: 1-P/PMAX; where P stands for the working pressure Ap or for a pressure pi, p2 in the working lines and PMAX designates a corresponding maximum pressure (determined, for example, by a pressure relief valve).
- a (partial) safety value can be determined based on the pivot angle in relation to a maximum possible pivot angle.
- a maximum rotational speed that should not be exceeded can be specified in a similar manner, even if there is a fixed rotational speed limit here.
- Combinations, such as suitable sums or mean values, of these and possibly other partial safety values are preferably used as the (overall) safety value.
- Associated safety values can be determined in the same way for the initial second operating points. Alternatively or additionally, the expert knowledge of a person skilled in the art can also be incorporated here, who can directly define the safety model or its safety model parameters for certain operating variable areas or operating points.
- control model and/or the safety model are preferably regression models, the operating variables being independent variables and at least one control variable being at least one dependent variable; where Gaussian process models are preferably used as regression models.
- the mappings fj and g which are characterized by the control model parameters and the safety model parameters, are determined, and the distribution of the error terms can also be determined.
- Corresponding regression methods are known per se to those skilled in the art. For example, the method of least squares can be used, i.e.
- control model parameters or the safety model parameters are determined in such a way that the probability that the respective model will have the control values/safety values at the operating points (the operating state quantity or the safety set quantity) taking into account the distribution of the respective Error terms yields, maximized.
- regression models are also possible, such as the use of neural networks, provided these models are able to determine a variance or uncertainty estimate.
- Updating the operating state quantity and the control model parameters of the control model preferably includes determining or measuring a further at least one control value of the at least one control variable, so that the further operating point is reached; adding the additional operating point and the determined additional at least one control value to the operating state set to form a supplemented operating state set; and redetermining the control model parameters of the control model based on the supplemented operating state set.
- the control value is determined by operating the axial piston pump (e.g. on a test bench), with the control variables being set in such a way that the further operating point is reached.
- the control model parameters are determined again according to the method used for modeling (e.g. regression method).
- the updating of the safety rate set and the safety model parameters of the safety model preferably includes a determination of a safety value for the further operating point; adding the further operating point and the associated determined safety value to the safety set to form a supplemented safety set; and re-determining the security model parameters of the security model based on the supplemented security set.
- the safety value is also determined or ascertained during operation of the axial piston pump (preferably during the operation mentioned in the aforementioned embodiment).
- the operating variables and/or other variables, on the basis of which the safety value is calculated are in particular measured.
- the safety model parameters are redetermined in accordance with the method used for modeling (eg regression method).
- the provision of initial control model parameters of the control model and an operating state quantity preferably includes determining the initial first operating points by means of physical modeling of the axial piston pump, the first operating points being determined in the physical modeling in such a way that error-free operation is possible; and/or providing the initial first operating points using standard operating points that are known to be error-free.
- the initial first operating points can be obtained through physical modeling and/or from standard operating points. In any case, they should be selected in such a way that error-free operation is possible at the first operating points.
- the standard operating points can be determined, for example, with a reference axial piston pump or a prototype axial piston pump. Both in the physical modeling and when using standard operating points, operating points can be obtained that run error-free for all axial piston pumps within a series of axial piston pumps, i.e. these operating points can always be controlled error-free within the series scatter.
- the provision of initial control model parameters of the control model and an operating state quantity preferably also includes determining the control values associated with the first operating points by means of physical modeling or by operating the axial piston pump and setting the control variables so that the respective first operating point is reached; and determining the control model parameters based on the determined first operating points and the determined associated control values.
- the use of standard control model parameters would also be possible here, which were determined with a reference axial piston pump or a prototype axial piston pump.
- the initial second operating points preferably include both safe operating points at which error-free operation is possible and unsafe operating points at which error-free operation is not possible; wherein the safe operating points preferably at least partially include the initial first operating points.
- Uncertain operating points at which a missing error-free operation is not possible there may be operating points at which it is clear that errors will occur. For example, when a pressure P used as an operating variable reaches or exceeds a maximum possible pressure PMAX (determined, for example, by a pressure relief valve).
- PMAX maximum possible pressure
- a number of the initial first operating points and a number of the initial second operating points are preferably in the range from 10 to 100 independently of one another.
- the safety threshold is also preferably less than or equal to 5%; wherein the safety threshold is preferably 2%, more preferably 1%, even more preferably 0.5%, most preferably 0.1%.
- These numbers for the first/second operating points or these safety thresholds enable the (relatively) reliable determination of further operating points.
- a different number of initial first operating points and/or a different number of initial second operating points can also be selected. This is particularly dependent on the model.
- a lower safety threshold means higher safety, the choice depends accordingly on the specific risk appetite. The greater the risk, the faster the exploration of the operating point space, but with a higher risk of damage.
- the determination of a further operating point, the updating of the operating state set and the control model parameters, and the updating of the safety set set and the safety model parameters are preferably carried out several times until a termination condition is met.
- the termination condition includes one or more of: the variance of the control model is below a predetermined threshold, a change in the control model parameters when updating the control model parameters is below a predetermined threshold, a change in the safety model parameters when updating the safety model parameters below a predetermined threshold, or a distance of the further operating point to the set of other operating points in the set of operating states is below a predetermined threshold.
- the termination conditions are selected in such a way that, if they are met, no significant improvement in the control model is to be expected.
- a suitable metric on the space of operating variables can be used to determine a distance from operating points. Since the different operating variables have different units and different value ranges, scaling can be carried out first.
- the operating values can be scaled in such a way that operating values that are between the minimum and maximum operating values (or other suitably defined lower/upper operating values) are scaled to the interval between -1 and +1 (for operating variables, the positive and negative values can assume, e.g. swivel angle) or on the interval between 0 and +1 (for operating variables that can only assume positive values, e.g. working pressure).
- the Euclidean metric can be used, for example.
- the scaling can be linear or non-linear; through the latter, certain company size ranges can be weighted more or less.
- the at least one control variable preferably includes at least one control current for at least one pressure control valve of the adjustment unit, which can be actuated, in particular, electromagnetically.
- a computing unit according to the invention e.g. a control unit of a test bench, is set up, in particular in terms of programming, to carry out a method according to the invention.
- Suitable data carriers for providing the computer program are, in particular, magnetic, optical and electrical memories, such as hard drives, flash memories, EEPROMs, DVDs, etc. It is also possible to download a program via computer networks (Internet, intranet, etc.).
- FIG. 1 shows a schematic representation of a hydrostatic travel drive with an axial piston pump for which the method according to the invention is provided.
- FIG. 2 shows a hydraulic circuit diagram of the axial piston pump of the travel drive according to FIG.
- FIG. 3 shows a flow chart according to a preferred embodiment of the invention.
- FIG. 4 illustrates safe and unsafe operating variable areas.
- a traction drive 1 has a primary variable displacement pump 2 and a secondary variable displacement motor 4 connected in series.
- the former is driven, for example, by an internal combustion engine ICE.
- the primary unit 2 converts mechanical energy into hydraulic energy
- the secondary unit 4 converts hydraulic energy into mechanical energy on the output side.
- the process can also be reversed, so that the secondary unit 4 brakes on the output side 2 .
- the primary 2 and secondary unit 4 can be connected both in an open circuit, i.e. the low-pressure sides of the primary 2 and secondary unit 4 are connected to a pressure-balanced tank, and in a closed circuit, i.e. the low-pressure sides of the primary 2 and secondary side 4 are directly connected to each other. Both circuits are protected against excessive pressure by pressure relief valves.
- a power split can be used in which a mechanical power path is installed parallel to the hydrostatic part 2, 4.
- the primary 2 and secondary 4 units are adjusted either separately or coupled. This results in a speed on the secondary side that is proportional to the volume flow.
- the pressure adjusts according to the load torque and is limited by the pressure relief valve.
- the axial piston pump 2 has a swash plate design, with its delivery volume flow in the working lines 6, 8 being adjusted by adjusting the swivel angle of its swash plate 10. This adjustment takes place via a mechanical coupling of the swash plate 10 with here, for example, a double-acting hydraulic cylinder 12 of an adjustment unit 13.
- Both actuating chambers of the hydraulic cylinder 12 can be individually charged with actuating pressure medium (eg hydraulic oil).
- actuating pressure medium eg hydraulic oil
- the respective control pressure in the control chambers is set via pressure control valves 14, 16 of the adjustment unit 13.
- the pressure control valves 14, 16 are designed here, for example, as electromagnetic valves and can be controlled by electrical currents, namely control currents I A , IB.
- the axial piston pump 2 has a load-sensitive behavior, that is, it is pivoted back by a high applied working pressure p or Ap. If you want to keep the pump swiveled out despite high pressures, the pressure in the adjustment must be increased.
- This characteristic stationary behavior which depends not only on the differential pressure but also on the speed and the swivel angle itself, is conventionally calculated in advance for the targeted adjustment or can be measured on the component test bench.
- FIG. 3 shows a flow chart according to a preferred embodiment of the invention.
- initial control model parameters of the control model and an operating state set which includes a number of initial first operating points.
- These initial control model parameters and initial first operating points can be determined, for example, by means of physical modeling (i.e. simulation) of the axial piston pump. It is also conceivable that applicable standard parameters (chosen conservatively with regard to safety) are used for all axial piston pumps.
- step 120 which can also be carried out before step 110 or at least partially simultaneously with it, initial safety model parameters of a safety model are provided based on a safety set that includes a number of initial second operating points and associated safety values.
- the safety model models a safety variable as a function of the operating variables, which enables a statement to be made as to whether error-free operation at the respective operating point is possible or not.
- step 130 a further operating point, which is not yet included in the operating state set, is determined. This is done in such a way that a variance of the control model is maximized, with the proviso that a probability obtained by the safety model that error-free operation is not possible at the further operating point is less than or equal to a predetermined safety threshold.
- the updating 140 of the operating state set and the control model parameters can include the sub-steps 150, 160, 170.
- a further at least one control value of the at least one control variable is determined, so that the further operating point is reached. This is done by operating the axial piston pump (e.g. in a test bench) and controlling it by adjusting the control variables so that the further operating point is reached.
- an adjacent operating point can be assumed and the at least one control variable can be changed until the further operating point is reached. This is relatively easy to do, since the (physical) effect of a change in a control variable on the operating variables is known in principle and a type of fine adjustment is therefore essentially necessary.
- step 160 the further operating point and the determined further at least one control value are added to the operating state quantity in order to form a supplemented operating state quantity.
- control model parameters of the control model are then determined again based on the supplemented operating state set.
- the parameters (control model parameters) of the control model are determined in such a way that the operating points are modeled as well as possible when they are used.
- a regression method can preferably be used for this purpose.
- updating 145 the security set set and the security model parameters may include sub-steps 155, 165, 175.
- a safety value for the further operating point is determined.
- variables in particular operating variables, can be determined and/or measured during operation of the axial piston pump (e.g. in a test stand; cf. step 150), which can be used to determine the safety value.
- a determination based on a relative distance of these variables to corresponding extreme values could be used here.
- step 165 the further operating point and the associated safety value determined in step 155 are added to the safety set set to form a supplemented safety set set.
- step 175 the security model parameters of the security model are determined again based on the supplemented security record set.
- a regression method is preferably used, in which case the safety values included in the set of safety sets should again be modeled as well as possible by applying the model to the corresponding operating points.
- step 180 it is decided whether the procedure of steps 130, 140, 145 should be carried out for additional further operating points. If this is the case, a jump is made back to step 130 (determining another operating point). A loop is thus formed in which the set of safe operating points is gradually expanded by one operating point with each run.
- steps 130, 140, 145 are not to be carried out for additional operating points, for example because a termination condition is met, the method can be ended in step 190 and the control model can be used in real operation of the axial piston pump (i.e. in operation for which the axial piston pump is provided). A further optimization of the control model is possible there, possibly taking the safety model into account.
- Possible termination conditions are, for example, that a predetermined number of loop runs has taken place, that the variance of the control model is below a predetermined threshold, that the change in the control model parameters (in step 170) is below a predetermined threshold, that the change in the safety model - Parameter (in step 175) is below a predetermined threshold, or that a distance of the further operating point to the set of other operating points in the operating state set is below a predetermined threshold.
- x1 and x2 represent operating values of two operating variables specified in any units.
- uncertain operating variable area 44 with uncertain operating values (i.e. error-free operation not possible)
- safe operating variable area 46 with safe operating values (i.e. error-free operation possible) drawn for the company sizes.
- These two areas are separated from one another by a (security) boundary line 42 .
- the position of the boundary line 42 is initially not exactly known and can be different for different axial piston pumps of the same type due to the series variance.
- a line 48 is drawn in, which illustrates the progress of the method according to the invention, with the corner points of the line 48 corresponding to the (further) operating points, which are selected and controlled in such a way that they are safe in terms of the safety model and the variance of the control model is maximized, to determine corresponding control values.
- the line 48 thus corresponds to the progress of the loop in FIG. 3.
- the operating variable area 46 which is considered safe in terms of the safety model taking into account these further operating points, is also drawn in.
- the safe operating variable area 46 expands as the method progresses, until finally the limit line 42 is at least approximately reached. In each step, a point within the respective safe operating variable area 46 is selected as a further operating point.
- the method according to the invention makes it possible, so to speak, to "explore" the safe area
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Abstract
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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EP22761229.8A EP4384709A1 (de) | 2021-08-12 | 2022-08-08 | Verfahren zum ermitteln von ansteuermodell-parametern eines ansteuermodells einer axialkolbenpumpe |
CN202280055570.3A CN117813451A (zh) | 2021-08-12 | 2022-08-08 | 用于求取轴向活塞泵的驱控模型的驱控模型参数的方法 |
US18/294,448 US20240287971A1 (en) | 2021-08-12 | 2022-08-08 | Method for Determining Control Model Parameters of a Control Model of an Axial Piston Pump |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102021208824.4 | 2021-08-12 | ||
DE102021208824.4A DE102021208824A1 (de) | 2021-08-12 | 2021-08-12 | Verfahren zum Ermitteln von Ansteuermodell-Parametern eines Ansteuermodells einer Axialkolbenpumpe |
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WO2023016969A1 true WO2023016969A1 (de) | 2023-02-16 |
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PCT/EP2022/072200 WO2023016969A1 (de) | 2021-08-12 | 2022-08-08 | Verfahren zum ermitteln von ansteuermodell-parametern eines ansteuermodells einer axialkolbenpumpe |
Country Status (5)
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US (1) | US20240287971A1 (de) |
EP (1) | EP4384709A1 (de) |
CN (1) | CN117813451A (de) |
DE (1) | DE102021208824A1 (de) |
WO (1) | WO2023016969A1 (de) |
Citations (3)
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WO2001036828A1 (fr) * | 1999-11-18 | 2001-05-25 | Shin Caterpillar Mitsubishi Ltd. | Dispositif de commande d'une pompe hydraulique |
DE102014222638A1 (de) * | 2014-11-06 | 2016-05-12 | Robert Bosch Gmbh | Verfahren zur Ermittlung einer physikalischen Betriebsgröße einer hydraulischen Maschine |
DE102017221637A1 (de) * | 2017-12-01 | 2019-06-06 | Zf Friedrichshafen Ag | Verfahren und Steuergerät zum Betreiben einer Pumpe eines Getriebes |
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DE4025221A1 (de) | 1990-08-09 | 1992-02-13 | Krauss Maffei Ag | Verfahren zum einfahren neuer werkzeuge auf einer kunststoff-spritzgiessmaschine |
DE102010002174A1 (de) | 2010-02-22 | 2011-08-25 | Robert Bosch GmbH, 70469 | Verfahren zur Regelung eines Spritzgießprozesses |
DE102010037552A1 (de) | 2010-09-15 | 2012-03-15 | Hbf Fertigungssteuerungssysteme Dr. Bauer Kg | Verfahren zum Betrieb einer Fertigungsmaschine in einer rückverfolgbaren Wechselfliessfertigung |
DE102012104885B4 (de) | 2012-06-05 | 2021-03-18 | Hbf Fertigungssteuerungssysteme Dr. Bauer Kg | Verfahren zum fehlerfreien Betrieb einer Fertigungsmaschine |
DE102015216953A1 (de) | 2015-09-04 | 2017-03-09 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Vermessen einer zu testenden Einheit |
DE102016206627A1 (de) | 2016-04-20 | 2017-10-26 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Vermessen eines zu testenden Systems |
EP3267269A1 (de) | 2016-07-04 | 2018-01-10 | Heiko Bauer | Simulations-basierte regelung eines fertigungssystems |
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2021
- 2021-08-12 DE DE102021208824.4A patent/DE102021208824A1/de active Pending
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2022
- 2022-08-08 EP EP22761229.8A patent/EP4384709A1/de active Pending
- 2022-08-08 US US18/294,448 patent/US20240287971A1/en active Pending
- 2022-08-08 CN CN202280055570.3A patent/CN117813451A/zh active Pending
- 2022-08-08 WO PCT/EP2022/072200 patent/WO2023016969A1/de active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2001036828A1 (fr) * | 1999-11-18 | 2001-05-25 | Shin Caterpillar Mitsubishi Ltd. | Dispositif de commande d'une pompe hydraulique |
DE102014222638A1 (de) * | 2014-11-06 | 2016-05-12 | Robert Bosch Gmbh | Verfahren zur Ermittlung einer physikalischen Betriebsgröße einer hydraulischen Maschine |
DE102017221637A1 (de) * | 2017-12-01 | 2019-06-06 | Zf Friedrichshafen Ag | Verfahren und Steuergerät zum Betreiben einer Pumpe eines Getriebes |
Also Published As
Publication number | Publication date |
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CN117813451A (zh) | 2024-04-02 |
US20240287971A1 (en) | 2024-08-29 |
EP4384709A1 (de) | 2024-06-19 |
DE102021208824A1 (de) | 2023-02-16 |
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