Patent Application
20200011447
This application relates to a control system that provides a variable dither to a voltage or current command to a fluid actuator.
Fluid actuators are known in many modern applications. As one example, a piston may be driven with hydraulic fluid to change the position or orientation of a mechanical component. Also, fluid actuators may be utilized to drive fluid systems such as hydraulic motors.
With modern controls, careful positioning of the actuator becomes desirable. There is a challenge with many modern systems due to an effect known as hysteresis effects. In particular, magnetic systems exhibit a hysteresis characteristic which can cause the actual positioning of the component dynamic response to be different from that which is desired.
There is also mechanical hysteresis which can be present in actuator systems. As an example, the movement of a hydraulic piston, such as one with seals that cause mechanical resistance can be impeded from moving to the desired or expected position.
It is known in prior art that providing “dither” by utilizing pulse width modulation (PWM) on a voltage or current supply or, by other means, to a motor or other drive for a fluid system, the performance of the system can be enhanced. A PWM supply rapidly perturbs applied current such that the fluid actuator components undergo small and repeated movements in opposed directions, usually about some operating point.
This can reduce the effect of the hysteresis. However, the use of the dither itself can raise some undesirable characteristics such as noise, wear, and unacceptable output disturbance.
A fluid system has a fluid actuator that receives a fluid to cause movement of a component. A valve selectively controls the flow of fluid to the fluid actuator. A motor for the valve is provided with an electric voltage or current. A control applies a pulse width modulation variation to the supplied voltage or current. The control is operable to vary the pulse width modulation of the voltage or the current based upon conditions of the system. A mechanical system and a method are also disclosed.
These and other features may be best understood from the following drawings and specification.
The piston rod 22 drives with a piston 26, which is moved to translate by fluid driven into chambers 28 or 30. Supply/return lines 32/35 connect the chambers 28/30 to a spool valve 34. Spool valve 34 has springs 36 and 40 positioning lands 38 and 42. Fluid is driven into chambers 43 between the lands 42 and 38 to drive the spool valve and to selectively communicate return or supply lines to, in turn, drive the actuator 22.
A drive motor 50 incorporates magnets 52 and 54 to change an angular attraction/opposition for an armature winding 55. Winding 55 is supplied with current and voltage from a supply 58. Supply 58 is controlled by a control 59.
As the current and voltage are controlled to the two sides of the armature, an end effector 56 is caused to pivot between flapper nozzles 61. As the end effector 56 pivots, it either restricts or opens respective nozzles 61.
This, in turn, drives the position of the spool valve 34 to change. A feedback spring 60 connects the end effector to valve 34
The operation of the system as described to this point is generally as known. In addition, while the particular fluid system 20 is disclosed, the teachings of the control of this disclosure can extend to many other types of systems wherein a fluid actuator motor receives a control current and/or voltage to control a valve position.
As mentioned above, in the prior art, there is knowledge that there is hysteresis, particularly in the drive motor 50. However, within the spool valve 34, and even the actuator rod 22, there may also be mechanical hysteresis, such as may occur by movement along seals 70, or with regard to the reaction of the springs 36 and 40.
In the prior art, a voltage/current supply 59 was utilized with a suitably high frequency pulse width modulation mechanism to rapidly cycle the applied voltage on and off, resulting in the application of a steady current while minimizing heat and power dissipation in the controlling device.
Applicant has recognized that the use of the pulse width modulation control at a lower frequency, to effectively provide “dithering,” or a repeated perturbation of the position about some operating point, has efficiency losses as to energy, and also may result in undesirable wear.
Thus, as shown in the flowchart of
As such, in situations where the increased correction, or fine positioning, is not as necessary, the control will move the pulse width modulation to a higher frequency, reducing the magnetic and/or mechanical dither.
In one embodiment, there may be an infinite number of steps of variation in the pulse width modulation frequency and voltage control. Five such steps are disclosed below. However, more or fewer steps can also be utilized. In one example, at least three distinct levels are contemplated.
At a highest frequency level, and/or a lowest applied voltage and wide pulse width, there is the lowest ripple, the least noise, the least wear, and the most efficient use of power. Such a first step may be utilized when accurate positioning is not as necessary. Such as when gross movement is being achieved.
At a second step, the frequency is lowered somewhat from the first step, and/or the applied voltage is raised and pulse width is reduced. Such a step has a greater “ripple” or variation, and removes magnetic hysteresis effects such as from actuator 50. This is accomplished by having a perturbation in the magnetic field that exceeds the magnetic hysteresis band such that the commanded current results in a commanded magnetic field that oscillates around the hysteresis band in a manner known to reduce the effects of hysteresis in prior art.
A third step may have still higher voltage/more narrow pulse width, and/or lower frequency from the second step. The ripple is larger and would tend to remove the effect of magnetic hysteresis and also mechanical hysteresis at the spool valve 34, due to the dithering effect of the implied current.
At a still higher voltage/more narrow pulse width and/or a lower frequency, the ripple is becoming larger. The benefits as mentioned in three are all achieved, however, there also tends to provide mechanical dithering, thereby reducing friction and hysteresis in the actuator. As dynamic friction in a system, as would be experienced when the mechanical surfaces in contact are moving, is reduced compared to static friction when the the surfaces are not moving or moving very slowly, the hysteresis is reduced.
At step 5, an even lower frequency may be utilized. The dithering movement begins to be noticeable in the target system. Still, the target system will tend to oscillate about the desired position, and there is a reduction in frictional effect as described in the step above, due to the resulting lower dynamic friction rather than static friction.
In a modern control system, there are various times in the control operation when various aspects of performance are desired to be optimized in the system, variable with time, operating mode, output position or condition, etc. with this system, dither can be modulated instantaneously in real time, varying in duration and/or, amplitude, to suit the needs at that moment
As examples, when the system output is moving rapidly, and fine positioning accuracy is not required, during gross movements from one position to another, the dither could be small. If a system has arrived close to a desired position the dither can be increased to allow the system to position very accurately, then when the system has arrived very close to the desired position, the dither can be reduced again. Likewise when the system output is at a point where greater positioning accuracy is not needed, the dither can be small.
A method of operating a fluid driven system includes the steps of operating a valve for selectively controlling a flow of fluid to a fluid actuator. The valve is provided with an electric voltage and current. A component is moved by the fluid actuator. A control applies pulse width modulation to the voltage or current. The control varies at least one of an applied voltage, pulse width or frequency of the pulse width modulation based upon conditions of the system.
A control programmed to achieve the above variation may be incorporated into a full-authority digital electronic control for an associated engine, or may be a separate control.
Although an embodiment of this invention has been disclosed, a worker of ordinary skill in this art would recognize that certain modifications would come within the scope of this disclosure. For that reason, the following claims should be studied to determine the true scope and content of this disclosure.
