The invention relates to an electropneumatic control system for a pneumatic actuator, an electropneumatic position controller for such a control system, a method for operating the electropneumatic control system, a computer program having program code instructions executable by a microcontroller of a position controller for implementing the method, and a computer program product comprising such a computer program.
EP 1 769 159 B1 discloses an electropneumatic control system having a position controller that is suitable for controlling the position of an associated final control element, e.g., a valve or damper position, on pneumatic linear or rotary actuators. The position controller is prescribed a setpoint value by a process controller or control system, e.g., via a field bus or via an analog 4 to 20 mA interface, and the position controller then enforces on the actuator a position corresponding to this setpoint value. The pressure in an actuator chamber or, in the case of double-acting actuators, in both actuator chambers is varied until the prescribed position of the final control element is reached. For this purpose, the current position is detected using a position sensor, e.g., a conductive plastic potentiometer, and an actual value signal produced by the position sensor is supplied together with the setpoint value to a microcontroller of the position controller. The microcontroller compares the two signals, establishes a control deviation and calculates the required switching reactions of downstream pneumatic valves taking into account the dynamics of the pneumatic actuator. A valve is located in the supply-air path for increasing the air pressure in the respective chamber, another valve is located in the exhaust-air path and opens if the chamber is to be vented.
As the air flow rate of the valves incorporated in the electropneumatic position controller is limited, large pneumatic actuators often require the installation of a volume booster to achieve a desired positioning speed. For example, in the case of control valves, a maximum closing or opening time is specified that must be maintained by the electropneumatic control system. Such a booster enables the air flow rate to be increased by a multiple, e.g., by a factor of twenty, compared to a simple position controller. The booster is inserted between the position controller and the actuator and, like the position controller, is connected to supply air. A first pneumatic control signal that is generated by the position controller is used to control the booster. In the case of double-acting actuators, two such boosters are installed, one for each chamber.
However, the use of boosters in electropneumatic control system can disadvantageously result in an undesirable behavior, particularly when the position of the actuator changes. To improve the behavior, as described in the previously cited publication EP 1 769 159 B1, a feedback signal is created in the volume booster to detect the operating state thereof and this signal is included in the control loop of the position controller. However, the generation of the feedback signal in the booster and the paths for feeding the signal back to the electropneumatic position controller involve significant additional cost/complexity. This cost/complexity is considered to be necessary even if a so-called bypass valve is used.
In view of the foregoing, it is an object of the invention to provide an electropneumatic control system for a pneumatic actuator and a method for operating the control system that provide a particularly simple way to adjust a bypass valve for good control system performance. Another object is to provide a suitable electropneumatic position controller for such a control system and a suitable computer program for the position controller.
This and other objects and advantages are achieved in accordance with the invention by an electropneumatic control system, an electropneumatic position controller, a corresponding method for operating the electropneumatic control system, a computer program having program code instructions that can be executed by a microcontroller of a position controller to implement the method, and a computer program product comprising such a computer program, were the electropneumatic position controller is configured to repeatedly move the pneumatic actuator with maximum air flow rate in a first direction in each different setting of the bypass valve until a predefined or predefinable position is reached, to set the air flow rate to zero each time the position is overshot, and to determine an overshoot value of the pneumatic actuator for the respective setting of the bypass valve and output the overshoot value on a display.
The advantage of the invention is that an operating mode for the electropneumatic control system has been created in which an operator is guided to a suitable adjustment of a bypass valve in a particularly simple and reliable manner.
Finding a suitable setting of the bypass valve is particularly important because of the following problems: if the bypass valve on the booster is completely closed, usually even minimal pressure variations of the first pneumatic control signal affect the output of the booster, as the latter delivers pressure variations in an amplified manner to its output, i.e., onto the second pneumatic control signal. This disadvantageously means that a valve provided with a pneumatic actuator is likely to vibrate, because fine control of the actuator position is not possible using small amounts of air in such a setting. Wide opening of the bypass valve results in a slow response of the booster and may likewise cause vibrations because of the associated delay in the position control loop.
Opening of the bypass valve by a certain amount allows the pressure variations on the pneumatic control signals to be attenuated, because minimal variations can now be compensated via the bypass valve. However, finding a bypass valve setting well suited for this purpose has hitherto proved to be comparatively difficult. The position controller had to be caused to move the pneumatic actuator via manual input. With the actuator stopped, an operator had to visually assess the behavior of the pneumatic actuator or rather of the valve operated thereby. If actuator overshoot could be detected, then the bypass valve on the volume booster was opened further. As this procedure only permitted a qualitative assessment of the transient response, the finding of a throttle valve setting with minimal overshoot was rather left to chance.
In contrast, the advantage of the inventive electropneumatic control system is that the respective overshoot when moving to a new position is quantitatively determined and displayed to the operator. This enables the operator, by varying the adjustment of the throttle valve, to reliably find the setting resulting in a low or even the lowest overshoot value and thus maintaining a good transient response of the electropneumatic control system.
The varying of the setting of the bypass valve can be performed manually by an operator between the individual positionings or using automatic adjustment mechanisms, e.g., via a suitably controlled stepping motor. For automatic adjustment, it may be advisable to likewise provide the operator with a display of characteristic values for the respective settings of the bypass valve that were used to determine the different overshoot values when moving to new positions.
As the pneumatic characteristics of the control system for supplying air to and exhausting air from an actuator chamber may differ from one another, or as a plurality of boosters are used in the case of double-acting actuators, it may also be advantageous to determine a first group of overshoot values for movement in a first direction and a second group of overshoot values for movement of the actuator in a second direction counter to the first direction and to find for each group a setting of the bypass valve(s) with low overshoot based on the overshoot values respectively assigned.
During commissioning of electropneumatic control systems, particularly when using them to actuate control valves, frequently the two end positions of the pneumatic actuator are initially moved to in order to determine the operating range of the actuator. If the operating range is known, then it is possible to display in a particularly clear manner for the operator the overshoot values for assisting the operator in manually adjusting the bypass valve as percentages of the operating range.
An actuator position change performed automatically by the electropneumatic position controller has been found to be particularly advantageous, where the actuator is moved alternately back and forth between a first position in the lower half of the operating range, preferably between 10% and 40% of the operating range, and a second position in the upper half of the operating range, preferably between 60% and 90%. The overshoot values that are determined for moving to the first position then constitute a first group of overshoot values and the overshoot values for moving to the second position constitute a second group. In a practical trial, 30% of the operating range and 70% of the operating range have been found to be particularly advantageous presets for the first position and second position respectively. These positions have, in most cases, a sufficient distance from the respective end positions to determine the overshoot. In addition, the two positions are moved to with a sufficiently high positioning speed to determine the overshoot values.
The above mentioned object is also achieved by an electropneumatic position controller for use in an electropneumatic control system and operating in accordance with the method as described here and in the following, and comprising means for carrying out the method. The invention is preferably implemented in software or in a software/hardware combination. The invention is therefore, on the one hand, also a computer program having program code instructions that can be executed by a microcontroller of a position controller and, on the other hand, a storage medium containing such a computer program, i.e., a computer program product with program code means, and lastly an electropneumatic position controller into the memory of which such a computer program is or can be loaded as a way to implement the method and the embodiments thereof.
Other objects and features of the present invention will become apparent from the following detailed description considered in conjunction with the accompanying drawings. It is to be understood, however, that the drawings are designed solely for purposes of illustration and not as a definition of the limits of the invention, for which reference should be made to the appended claims. It should be further understood that the drawings are not necessarily drawn to scale and that, unless otherwise indicated, they are merely intended to conceptually illustrate the structures and procedures described herein.
An exemplary embodiment of the invention will now be explained in greater detail with reference to the accompanying drawings. Mutually corresponding items or elements are provided with the same reference characters in all the figures, in which:
An electropneumatic control system 1 for a pneumatic actuator 2 comprises, as shown in
The booster 4 is a booster mounted externally to the position controller 3. Alternatively, the booster can self-evidently also be a device incorporated in the position controller 3. The position controller 3 and booster 4 are both directly connected to a compressed air supply line.
In order to reliably prevent vibration of the pneumatic actuator 2 during operation of the electropneumatic control system 1, an additional operating mode, is implemented in the position controller 3, which is used for the initialization thereof in a control system comprising a volume booster, as in the exemplary embodiment shown for using the volume booster 4. This initialization mode provides operator assistance, e.g., for manually adjusting a bypass valve with which the booster 4 is equipped for suppressing vibration and achieving a high positioning speed, as will be explained in greater detail below.
To provide a better understanding of the invention, the method of operation will first be described with the aid of an exemplary embodiment of the booster 4 as shown in
To apply air to the actuator 2 (
To initiate an air exhaust process, the upper chamber 26 is vented via the control input 20, as indicated by the arrows above the piston 24 in
As shown in
In order to facilitate the setting of the bypass valve 30 for an operator and also make the setting reproducible, the position controller 3 (
In the case of single-acting actuators, even repeated movement in the one direction described above would basically suffice for correct adjustment of the bypass valve. In the case of double-acting actuators, two boosters each acting in one direction are frequently installed. From point 44 of the response curve 41 onwards, an overshoot measurement is therefore also performed for movement in a second direction contrary to the first. For this purpose, the actuator is moved to a new position setpoint value which, in the exemplary illustrated embodiment, is at approximately 70% of the operating range. At a point 45 of the curve 41, the measured actual value exceeds the setpoint value, again maintains the same positioning speed up to a point 46 because of the internal time lag, and comes virtually to a standstill at a point 47. Similarly to the measurements performed in the first direction, a correction value dx2 and an overshoot value Δx2 are also measured for the second direction. Overshoot values Δx2 obtained for a plurality of movement processes in the second direction are displayed in each case, so that the operator can also adjust a bypass valve on a second booster to ensure a low overshoot.
Overshoot values of the first group that are measured with respect to the first direction, and overshoot values of the second group that are measured for the second direction contrary to the first direction are alternately output on the display. It would self-evidently also be possible to initially output only the overshoot values of the first group to assist the operator in manually adjusting a first bypass valve and then the overshoot values of the second group for adjusting a second bypass valve.
In each case, it is possible to change the setting of a bypass valve on a booster between the individual measurements while operating in initialization mode, to observe overshoot values obtained with the respective settings, and to respond thereto by suitably changing the setting of the bypass valve. In order to ensure problem-free control by the electropneumatic control system and obtain as short an adjustment time as possible in the event of setpoint value changes, the aim must be to select a bypass valve setting for minimal overshoot.
When adjustment of the bypass valve(s) is complete, initialization in another operating mode can then occur to determine new control parameters for the position controller, because a changed setting of the bypass valve(s) may also cause the dynamics of the electropneumatic control system to change.
Next, the air flow rate is set to zero each time the position is overshot, as indicated in step 620.
Next, an overshoot value Δx1 of the pneumatic actuator 2 is determined and output on a display 53, as indicated in step 630.
Thus, while there have been shown, described and pointed out fundamental novel features of the invention as applied to a preferred embodiment thereof, it will be understood that various omissions and substitutions and changes in the form and details of the devices illustrated, and in their operation, may be made by those skilled in the art without departing from the spirit of the invention. For example, it is expressly intended that all combinations of those elements and/or method steps which perform substantially the same function in substantially the same way to achieve the same results are within the scope of the invention. Moreover, it should be recognized that structures and/or elements shown and/or described in connection with any disclosed form or embodiment of the invention may be incorporated in any other disclosed or described or suggested form or embodiment as a general matter of design choice. It is the intention, therefore, to be limited only as indicated by the scope of the claims appended hereto.
Number | Date | Country | Kind |
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10 2016 222 153.1 | Nov 2016 | DE | national |
This is a U.S. national stage of application No. PCT/EP2017/078923 filed Nov. 10, 2017. Priority is claimed on German Application No. 102016222153.1 filed Nov. 11, 2016, the content of which is incorporated herein by reference in its entirety.
Filing Document | Filing Date | Country | Kind |
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PCT/EP2017/078923 | 11/10/2017 | WO | 00 |