Method for controlling a movement of a movably mounted body of a mechanical system

Patent metadata

Field	Value
Publication number	US-10989230-B2
Application number	US-201816609931-A
Country	US
Kind code	B2
Filing date	Mar 20, 2018
Priority date	May 2, 2017
Publication date	Apr 27, 2021
Grant date	Apr 27, 2021

Abstract

A method for controlling movement of a movably mounted body ( 14 ) of a mechanical system ( 2, 56, 62 ). The mechanical system ( 2, 6, 62 ) includes a drive unit ( 4, 64 ), which is operated by a medium, and also a control valve ( 20, 22 ). The movably mounted body ( 14 ) is driven by the drive unit ( 4, 64 ). A drive movement of the drive unit ( 4, 64 ) is controlled with the aid of the control valve ( 20, 22 ). In order to avoid or reduce excitation of undesired vibrations in the mechanical system ( 2, 56, 62 ), it is proposed that the control valve ( 20, 22 ) be actuated using a control signal (u(t)) which comprises a first and also a further switching pulse (S 1 , S 3 ) each having a prespecified pulse duration. The pulse duration of the first switching pulse (S 1 ) is equal to the pulse duration of the further switching pulse (S 3 ). A time difference (Δt 1-3 ) between the start of the first pulse (S 1 ) and the start of the further switching pulse (S 3 ) is matched to a natural period duration of the mechanical system ( 2, 56, 62 ).

First claim

The invention claimed is:

1. A method for controlling a movement of a movably mounted body of a mechanical system, wherein the mechanical system comprises a drive unit which is configured to be operated by a medium, and a control valve;
the method comprising:
driving the movably mounted body by the drive unit, controlling a drive movement of the drive unit using the control valve;
actuating the control valve by a control signal u(t) which comprises a first switching pulse and a further switching pulse (S 1 , S 3 ), with each pulse having a predefined pulse duration, the pulse duration of the first switching pulse (S 1 ) being equal to the pulse duration of the further switching pulse (S 3 ); and
a time interval (Δt 1-3 ) between the start of the first switching pulse (S 1 ) and the start of the further switching pulse (S 3 ), the time interval being adapted to an intrinsic period duration of the mechanical system.

2. A method according to claim 1 , wherein the time interval (Δt 1-3 ) between the start of the first switching pulse (S 1 ) and the start of the further switching pulse (S 3 ) is a linear function of the intrinsic period duration.

3. A method according to claim 2 , wherein the time interval (Δt 1-3 ) between the start of the first switching pulse (S 1 ) and the start of the further switching pulse (S 3 ) is at least half of the intrinsic period duration.

4. A method according to claim 1 , further comprising if the control valve has a switching time which is longer than a sixth of the intrinsic period duration, the time interval (Δt 1-3 ) between the start of the first switching pulse (S 1 ) and the start of the further switching pulse (S 3 ) is a function of the switching time.

5. A method according to claim 1 , further comprising the pulse duration of the first switching pulse (S 1 ) and the pulse duration of the further switching pulse (S 3 ) are each a linear function of the intrinsic period duration.

6. A method according to claim 1 , further comprising if the control valve has a switching time which is longer than a sixth of the intrinsic period duration, the pulse duration of the first switching pulse (S 1 ) and the pulse duration of the further switching pulse (S 3 ) are each a linear function of the switching time.

7. A method according to claim 1 , further comprising the control signal u(t) has an additional switching pulse (S 2 ) with a predefined pulse duration between the first and the further switching pulses (S 1 , S 3 ).

8. A method according to claim 7 , further comprising a time interval (Δt 1-2 ) between the start of the first switching pulse (S 1 ) and the start of the additional switching pulse (S 2 ) is a linear function of the intrinsic period duration.

9. A method according to claim 7 , further comprising
separating the first switching pulse and the additional switching (S 1 , S 2 ) pulses from one another by a first pause with a predefined pause duration, and the additional switching pulse and the further switching pulse (S 2 , S 3 ) are separated from one another by a second pause with a second predefined pause duration, the pause duration of the first pause and the pause duration of the second pause each being a linear function of the intrinsic period duration.

10. A method according to claim 9 , wherein the pause duration of the first pause is equal to the pause duration of the second pause.

11. A method according to claim 1 , wherein the medium for operating the drive unit is a liquid.

12. A method according to claim 1 , wherein the control valve is a digital valve.

13. A method according to claim 1 , further comprising the movably mounted body is a pressure roller of a coiler, and the drive unit is a hydraulic cylinder.

14. A method according to claim 13 , further comprising:
during a winding operation of a metal strip for winding the metal strip onto a coiler drum, pressing the pressure roller against the metal strip then on the coiler with the aid of the drive unit;
moving the pressure roller by the drive movement of the drive unit, during at least one phase of the winding operation for spacing the pressure roller apart from the metal strip when a strip beginning of the metal strip lies on the coiler drum to run through between the pressure roller and the coiler drum.

15. A mechanical system comprising:
a movably mounted body, a drive unit which can be operated by a medium, which drive unit is for driving the movably mounted body;
a control valve for controlling a drive movement of the drive unit;
a control unit which is configured to generate a control signal u(t) for actuating the control valve, wherein the control signal u(t) comprises a first switching pulse and a further switching pulse (S 1 , S 3 ) each having a predefined pulse duration;
the pulse duration of the first switching pulse (S 1 ) is equal to the pulse duration of the further switching pulse (S 3 );
a time interval (Δt 1-3 ) between the start of the first switching pulse (S 1 ) and the start of the further switching pulse (S 3 ) and being adapted to an intrinsic period duration of the mechanical system.

16. A method according to claim 1 , wherein the medium for operating the drive unit is an oil.

Assignees

• Primetals Technologies Austria GmbH

Inventors

• Haas Rainer
• Keintzel Georg
• Kogler Helmut

Classifications

• G05B11/28 Primary

  using pulse-height modulation; using pulse-width modulation · CPC title

• F15B9/09 Primary

  with electrical control means · CPC title

• F15B2211/6336

  representing a state of the output member, e.g. position, speed or acceleration · CPC title

• F15B13/02

  Fluid distribution or supply devices characterised by their adaptation to the control of servomotors · CPC title

• F15B21/08

  Servomotor systems incorporating electrically operated control means (F15B21/02, {F15B21/065} take precedence) · CPC title