Control device for a hydraulic cylinder unit with an individual valve controller

Patent metadata

Field	Value
Publication number	US-9945395-B2
Application number	US-201314401684-A
Country	US
Kind code	B2
Filing date	Apr 24, 2013
Priority date	May 16, 2012
Publication date	Apr 17, 2018
Grant date	Apr 17, 2018

Abstract

A control device controls a hydraulic cylinder unit having a piston. The device receives a setpoint variable and an actual variable and determines, based on a difference between the setpoint variable and the actual variable, a preliminary manipulated variable for valves of the hydraulic cylinder unit. The setpoint variable and the actual variable relate to a position of the piston or a force applied by the piston. Linearization factors are determined dynamically as a function of the actual position of the piston and working pressures on both sides of the piston and a hydraulic fluid tank/pump. Definitive manipulated variables to control the valves are determined from the preliminary manipulated variable and the linearization factors. With the linearization factors, a ratio of the piston adjustment speed to the difference between the setpoint variable and the actual variable is independent of the actual position of the piston and the working pressures.

First claim

The invention claimed is:

1. A control device for controlling a hydraulic cylinder unit, comprising:
a controller to receive on an input side, a setpoint variable and an actual variable and to determine a preliminary manipulated variable for valve control units of the hydraulic cylinder unit, the preliminary manipulated variable is determined based on a difference between the setpoint variable and the actual variable, the setpoint variable and the actual variable respectively being one of (i) a setpoint position for a piston of the hydraulic cylinder unit and an actual position of the piston of the hydraulic cylinder unit and (ii) a setpoint force to be exerted by the piston and an actual force exerted by the piston; and
a linearization unit arranged downstream of the controller to receive the preliminary manipulated variable, to determine linearization factors, to determine definitive manipulated variables, and to output the definitive manipulated variables respectively to the valve control units so that the piston is adjusted with an adjustment speed, the definitive manipulated variables being determined based on the preliminary manipulated variable and the linearization factors, wherein
the linearization unit determines the linearization factors dynamically as a function of the actual position of the piston and working pressures, the working pressures comprising a pressure on a first side of the piston, a pressure on a second side of the piston, a pressure on a pump side of the valve control units and a pressure on a tank side of the valve control units,
the linearization unit determines the linearization factors such that a ratio of the adjustment speed to the difference between setpoint variable and the actual variable is independent of the actual position of the piston and the working pressures,
the linearization unit determines first through fourth linearization factors, and
if the parameter has a first value, the linearization unit determines the linearization factors such that first and second linearization factors have a value of zero and third and fourth linearization factors have a value differing from zero.

2. The control device as claimed in claim 1 , wherein
the linearization unit is additionally supplied with a parameter, and
the linearization unit takes account of the parameter in determination of the linearization factors.

3. The control device as claimed in claim 2 ,
if the parameter has a second value, the linearization unit determines the linearization factors such that a sum of the pressures on the first and second sides of the piston approximates a sum of the pressures on the pump side and the tank side of the valve control units.

4. The control device as claimed in claim 1 , wherein
the valve control units are embodied as binary-switched switching valves.

5. The control device as claimed in claim 1 , wherein
the control device is embodied as a software-programmable control device programmed with a software module.

6. The control device as claimed in claim 1 , wherein,
the valve control units comprise four valves,
the tank side of the valve control units comprises a hydraulic fluid tank,
the pump side of the valve control units comprises a pump to pump hydraulic fluid from the hydraulic fluid tank,
the first and second sides of the piston are connected to the pump respectively by first and second valves, and
the first and second sides of the piston are connected to the hydraulic fluid tank respectively by third and fourth valves.

7. The control device as claimed in claim 6 , wherein,
the controller determines first through fourth preliminary manipulated variables,
the first through fourth preliminary manipulated variables are multiplied by the first through fourth linearization factors to produce first through fourth definitive manipulated variables, and
the first through fourth definitive manipulated variables are supplied respectively to the four valves.

8. A non-transitory computer readable storage medium storing a program, which when executed by a processor, causes the processor to perform a method comprising:
receiving a setpoint variable and an actual variable, the setpoint variable and the actual variable respectively being one of (i) a setpoint position for a piston of a hydraulic cylinder unit and an actual position of the piston of the hydraulic cylinder unit and (ii) a setpoint force to be exerted by the piston and an actual force exerted by the piston;
determining a preliminary manipulated variable for valve control units of the hydraulic cylinder unit, the preliminary manipulated variable being determined based on a difference between the setpoint variable and the actual variable;
determining linearization factors;
determining definitive manipulated variables based on the preliminary manipulated variable and the linearization factors; and
outputting the definitive manipulated variables respectively to the valve control units so that the piston is adjusted with an adjustment speed, wherein
the linearization factors are determined dynamically as a function of the actual position of the piston and working pressures, the working pressures comprising a pressure on a first side of the piston, a pressure on a second side of the piston, a pressure on a pump side of the valve control units and a pressure on a tank side of the valve control units,
the linearization factors are determined such that a ratio of the adjustment speed to the difference between setpoint variable and the actual variable is independent of the actual position of the piston and the working pressures,
first through fourth linearization factors are determined, and
if the parameter has a first value, the linearization factors are determined such that first and second linearization factors have a value of zero and third and fourth linearization factors have a value differing from zero.

9. A method comprising:
receiving a setpoint variable and an actual variable, the setpoint variable and the actual variable respectively being one of (i) a setpoint position for a piston of a hydraulic cylinder unit and an actual position of the piston of the hydraulic cylinder unit and (ii) a setpoint force to be exerted by the piston and an actual force exerted by the piston;
determining a preliminary manipulated variable for valve control units of the hydraulic cylinder unit, the preliminary manipulated variable being determined based on a difference between the setpoint variable and the actual variable;
determining linearization factors;
determining definitive manipulated variables based on the preliminary manipulated variable and the linearization factors; and
outputting the definitive manipulated variables respectively to the valve control units so that the piston is adjusted with an adjustment speed, wherein
the linearization factors are determined dynamically as a function of the actual position of the piston and working pressures, the working pressures comprising a pressure on a first side of the piston, a pressure on a second side of the piston, a pressure on a pump side of the valve control units and a pressure on a tank side of the valve control units,
the linearization factors are determined such that a ratio of the adjustment speed to the difference between setpoint variable and the actual variable is independent of the actual position of the piston and the working pressures,
first through fourth linearization factors are determined, and
if the parameter has a first value, the linearization factors are determined such that first and second linearization factors have a value of zero and third and fourth linearization factors have a value differing from zero.

10. The method as claime

Assignees

• Siemens Ag
• Primetals Technologies Germany Gmbh

Inventors

• Tautz Wilfried

Classifications

• F15B2211/7053

  Double-acting output members · CPC title

• G05B15/02

  electric · CPC title

• G05D7/0635

  by action on throttling means (G05D7/0688, G05D7/0694 take precedence) · CPC title

• F15B2211/6336

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

• F15B2211/6656

  Closed loop control, i.e. control using feedback · CPC title