阅读说明：本技术 系统和方法 (System and method ) 是由 D·克拉森 G·戈梅尔 于 2021-04-15 设计创作，主要内容包括：本发明涉及一种系统和方法,系统包括具有致动环节的能够以压缩空气进行加载的气动的致动器和压缩空气提供装置,所述压缩空气提供装置构造成用于通过所述气动的致动器的压缩空气加载来执行所述致动环节的位置调节,以便将所述致动环节置于理论位置中,所述压缩空气提供装置此外构造成用于实施协助程序并且在所述协助程序的范围内通过所述气动的致动器的压缩空气加载将所述致动环节置于尤其正弦形的振荡运动中,在所述振荡运动中所述致动环节交替地沿第一运动方向和沿第二运动方向进行运动,在所述振荡运动期间探测所述压缩空气的压力值和所述致动环节的位置值,并且基于所探测的压力值和所探测的位置值测定和/或校验摩擦信息和/或质量信息。(The invention relates to a system and a method, comprising a pneumatic actuator that can be loaded with compressed air and that has an actuating element, and a compressed air supply device that is designed to carry out a position adjustment of the actuating element by means of the compressed air loading of the pneumatic actuator in order to set the actuating element in a set position, wherein the compressed air supply device is also designed to carry out an assistance program and, within the scope of the assistance program, to set the actuating element in an, in particular, sinusoidal, oscillating movement by means of the compressed air loading of the pneumatic actuator, wherein the actuating element is moved alternately in a first movement direction and in a second movement direction, wherein a pressure value of the compressed air and a position value of the actuating element are detected, and determining and/or verifying friction information and/or quality information based on the detected pressure value and the detected position value.)

1. System (100) comprising a pneumatic actuator (2) which can be charged with compressed air and which has an actuating element (3), and a compressed air supply device (4) which is designed to carry out a position adjustment of the actuating element (3) by means of the compressed air charging of the pneumatic actuator (2) in order to place the actuating element (3) in a set position, wherein the compressed air supply device (4) is furthermore designed to carry out an assistance procedure and, within the scope of the assistance procedure, to place the actuating element (3) in an in particular sinusoidal oscillation movement (60) in which the actuating element (3) is alternately moved in a first movement direction (61) and in a second movement direction (62) by means of the compressed air charging of the pneumatic actuator (2), during the oscillating movement (60), a pressure value of the compressed air and a position value of the actuating element (3) are detected, and friction information and/or quality information are determined and/or checked on the basis of the detected pressure value and the detected position value, said friction information describing the friction occurring when the actuating element (3) is positioned, and said quality information describing the quality to be set in movement when the actuating element (3) is positioned.

2. The system (100) according to claim 1, wherein the compressed air supply device (4) is configured for varying the speed of the actuating link (3) during the oscillating movement (60) such that a plurality of cycles (63) of the oscillating movement (60) differ from each other in their speed profile and the pressure value and the position value are detected over a plurality of cycles (63).

3. The system (100) according to claim 1 or 2, wherein the compressed air providing device (4) is configured for performing at least one frequency sweep of the oscillating movement (60) and detecting the pressure value and the position value during the frequency sweep.

4. The system (100) according to any one of the preceding claims, wherein the compressed air providing device (4) is configured for performing at least one first frequency sweep (64) of the oscillating movement (60) and a second frequency sweep (65) of the oscillating movement and detecting the pressure value and the position value during the two frequency sweeps (64, 65), wherein the first frequency sweep (64) is a frequency sweep with an increasing frequency and the second frequency sweep (65) is a frequency sweep with a decreasing frequency.

5. The system (100) according to any one of the preceding claims, wherein the compressed air supply device (4) is configured for determining and/or verifying the friction information and/or the quality information on the basis of the detected pressure values, an equation of motion describing the motion of the actuating element (3) and the detected position values of the actuating element (3).

6. The system (100) according to one of the preceding claims, wherein the compressed air supply device (4) is configured for calculating a friction force curve (66) of the friction force acting on the actuating element (3) extending over a plurality of cycles (63) of the oscillating movement (60) and calculating the friction information and/or the quality information using the friction force curve (66) on the basis of the pressure value and the position value as a function of the oscillating movement (60), in particular the oscillating speed (v).

7. System (100) according to claim 6, wherein the friction force of the friction force curve (66) depends on a mass parameter which describes the mass to be set in motion when positioning the actuating element (3), and the compressed air supply device (4) is configured for calculating, in which case of the mass parameter value of the mass parameter the deviation of the friction force curve (66) between different periods (63) is minimal, and for providing as the mass information the mass parameter value in which case the deviation is minimal.

8. System (100) according to claim 7, wherein the compressed air supply device (4) is configured for determining the friction information on the basis of a friction force curve (66) in which the deviation is minimal.

9. System (100) according to one of claims 6 to 8, wherein the compressed air supply device (4) is configured for calculating the friction force of the friction force curve (66) as a difference between a first pneumatic force acting on the actuating link (3) in the first direction of motion (61), a second pneumatic force acting on the actuating link (3) in the second direction of motion (62), an inertial force caused by an acceleration of the actuating link (3) and/or a gravitational force acting on the actuating link (3).

10. System (100) according to claim 9, wherein the compressed air providing device (4) is configured for calculating the first pneumatic force and/or the second pneumatic force based on the pressure value.

11. The system (100) according to any one of claims 7 to 10, wherein the compressed air providing device 4 is configured to apply no further additional function for the calculation of the friction information and/or the quality information.

12. The system (100) according to any one of the preceding claims, wherein the compressed air providing device (4) is configured for performing the position adjustment taking into account the friction information and/or the quality information.

13. The system (100) as claimed in any of the preceding claims, wherein the compressed air supply device (4) comprises a pressure sensor assembly (29) and is configured to measure a measured pressure of the compressed air supply device (4) by means of the pressure sensor assembly (29), to provide the measured pressure as the pressure value, and to calculate a calculated pressure based on the pressure value, which represents an estimate of the pressure present in a pressure cavity (8, 9) of the pneumatic actuator (2), and to determine and/or verify the friction information and/or the quality information based on the calculated pressure.

14. The system (100) according to any one of the preceding claims, wherein the compressed air providing device (4) is configured for calculating the coulomb friction (LBD) of the actuating link (3) based on the determined friction information.

15. Method for operating a system (100) according to any of the preceding claims, comprising the steps of: and executing the assisting program.

Technical Field

The invention relates to a system comprising a pneumatic actuator that can be acted upon by compressed air and that has an actuating element. The system further comprises a compressed air supply device which is designed to carry out a position adjustment of the actuating element by means of a compressed air application of the pneumatic actuator in order to position the actuating element in the desired position.

Background

The compressed air supply device comprises, for example, a valve platform (Ventilinsel). The pneumatic actuator is, for example, a pneumatic drive cylinder.

The system is suitable for use in industrial automation, for example, for positioning a drive object, such as a tool, a workpiece and/or a machine part, via an actuating element.

The pneumatic actuator comprises one or more pressure chambers which are pressurized by being loaded with compressed air in the region of the position adjustment in order to thereby initiate the positioning of the actuating element. The position control device loaded by means of compressed air is also referred to as a servo pneumatic device.

Suitably, the compressed air supply device can be used in a number of different applications and/or with different pneumatic actuators. In order to achieve a good interaction between the compressed air supply device and the pneumatic actuator, it is advantageous if the compressed air supply device has friction information describing the friction occurring when the actuating link is positioned and/or quality information describing the mass to be set in motion when the actuating link is positioned. For example, the compressed air supply device 4 takes into account friction information and/or quality information during the position adjustment of the actuating element.

The friction information and/or the quality information can be entered by the user into the compressed air supply device at the point of use (for example when the system is put into operation), for example into an application program, by means of which the position adjustment is provided.

Disclosure of Invention

The object of the present invention is to improve the system mentioned at the outset in such a way that it is easier for the user to obtain a good interaction between the compressed air supply device and the pneumatic actuator.

The task is solved by a system according to claim 1. The compressed air supply device is designed to carry out an assistance program and, within the scope of the assistance program, to bring the actuating element into an in particular sinusoidal oscillation movement by means of the compressed air application of the pneumatic actuator, in which oscillation movement the actuating element is alternately moved in a first movement direction and in a second movement direction, to detect a pressure value of the compressed air and a position value of the actuating element during the oscillation movement, and to determine and/or verify friction information and/or quality information on the basis of the detected pressure value and the detected position value.

It may be difficult for the user to determine the friction information and/or the quality information himself. The assistance program expediently provides the function that the friction information and/or the mass information are automatically determined by the compressed air supply, i.e. based on the oscillating movement of the actuating element. The compressed air supply device is in particular designed for the fully automatic determination of the friction information and/or the quality information by means of an assistance program.

In particular, in the case in which the user manually enters the friction information and/or the quality information, it can happen that the entered friction information and/or quality information is incorrect (in particular due to a fault or an entry error), that is to say is not matched to the system in particular. The helper program expediently provides the function of checking the friction information and/or the quality information (in particular input by the user).

That is, the helper program is used to ensure that there is correct friction information and/or correct quality information. A good interaction between the compressed air supply device and the pneumatic actuator can be obtained by providing correct friction information and/or correct mass information. For example, an accurate and/or rapid position adjustment of the actuating element can be achieved taking into account friction information and/or mass information.

Further advantageous embodiments are the subject matter of the dependent claims.

The invention further relates to a method for operating the system described above. The method comprises the following steps: and implementing the assisting procedure.

The method is expediently designed in accordance with a further development of the system.

Drawings

Exemplary details and exemplary embodiments are explained subsequently with reference to the figures. Here:

figure 1 shows a schematic view of a system with a compressed air supply, a hose assembly and a pneumatic actuator,

figure 2 shows a schematic view of the valve mechanism,

figure 3 shows a diagram of an oscillating movement,

FIG. 4 shows a diagram of an unoptimized friction curve, an

Fig. 5 shows a diagram of an optimized friction curve.

Detailed Description

Fig. 1 shows a system 100 comprising a pneumatic actuator 2 that can be acted upon by compressed air and a compressed air supply 4. The system 100 further comprises, as an example, a hose assembly 28 which connects the compressed air supply device 4 to the pneumatic actuator 2.

The pneumatic actuator 2 has an actuating element 3. The compressed air supply device 4 is designed to perform a position adjustment of the actuating element 3 in order to position the actuating element 3 in the desired position. Within the scope of the position adjustment, the compressed air supply device 4 supplies compressed air to the actuator 2 via the hose assembly 28 in order to bring the actuating element 3 into the desired position.

The system 100 is expediently used in industrial automation, for example for positioning a drive object, such as a tool, a workpiece and/or a machine part, by means of the actuating element 3.

The compressed air supply device 4 comprises a valve assembly 14, through which compressed air is supplied for the position adjustment of the actuator 2. Exemplarily, the valve assembly 14 is implemented as a valve platform. Alternatively, the valve assembly 14 can also be embodied as a single valve or as another valve mechanism.

At the valve assembly 14 there are two pressure outlets 23, 24 for providing compressed air. Each of the two pressure outlets 23, 24 is pneumatically connected to a respective pressure chamber 8, 9 of the pneumatic actuator 2. The valve assembly 14 is capable of ventilating and venting the two pressure outlets 23, 24 independently of each other.

In an alternative embodiment, the actuator 2 has only one single pressure chamber. In this alternative embodiment, the pressure chamber is connected to the pressure outlet.

The valve assembly 14 has a pressure sensor assembly 29 (shown in fig. 2) with pressure sensors, by means of which the pressure at the pressure outlets 23, 24 and/or the pressure in the exhaust connection 26 and/or the ventilation connection 27 can be measured. The pressure sensor is expediently arranged at the valve assembly 14, in particular at the valve platform.

Illustratively, the valve assembly 14 includes a plurality of modules, such as a valve module 17 and/or an I/O module 18. The valve assembly 14 furthermore comprises a control unit 19, which is preferably likewise embodied as a module. The valve assembly 14 expediently has a carrier body 20, in particular a carrier plate, on which the control unit 19, the valve module 17 and/or the I/O module 18 are arranged.

The valve assemblies 14 are embodied exemplarily as a row of modular assemblies and can also be referred to as valve platforms, among other things. The aforementioned modules relate in particular to rows of modules, which are preferably implemented in a disk-shaped manner. The valve module 17 is embodied in particular as a valve disk. Suitably, the rows of modules are arranged at each other, in particular along the longitudinal axis of the valve assembly 14.

The compressed air supply device 4 further comprises a superordinate control 15 and/or optionally a cloud server 16 and/or a user device 49.

The valve assembly 14 is suitably communicatively connected to a control section 15 and/or cloud server 16 of a previous stage. Preferably, the valve assembly 14 is connected to the control unit 15 of the higher stage via a bus 25, in particular a body bus, for example a field bus, and/or optionally to the cloud server 16 via a wide area network 22, for example the internet.

The valve assembly 14 is communicatively connected with the position sensor mechanism 10 of the actuator 2, in particular by an I/O module 18. Illustratively, the valve assembly 14 is communicatively coupled to the position sensor mechanism 10 via one or more communication lines 91, 92. Suitably, the position value detected by the position sensor mechanism 10 is supplied to the control unit 19, the control section 15 of the previous stage, and/or the cloud server 16. Expediently, the pressure values of the pressure sensors 43, 44, 45, 46 are also provided to the control unit 19, the upstream control unit 15 and/or the cloud server 16.

The pneumatic actuator 2 is configured as a drive, in particular as a drive cylinder, by way of example. The pneumatic actuator 2 comprises, by way of example, an actuator body 7, an actuator ring 3 and two pressure chambers 8, 9. Expediently, the two pressure chambers 8, 9 can be loaded separately from one another with compressed air. The pneumatic actuator 2 is in particular designed as a double-acting actuator. Alternatively, the pneumatic actuator 2 can also have only one pressure chamber and be designed accordingly as a single-acting actuator.

The actuator body 7 is preferably embodied as a cylinder and has an inner volume. The actuating element 3 comprises, for example, a piston 5 and/or a piston rod 6. The piston 5 is arranged in an actuator body 7 and divides the inner volume of the actuator body 7 into two pressure chambers 8, 9.

The pneumatic actuator 2 suitably comprises a position sensor mechanism 10. The position sensor mechanism 10 serves in particular to detect the position of the actuating element 3. The position sensor mechanism 10 provides a position value which represents the position of the actuating element 3. The position sensor mechanism 10 is preferably implemented as an analog position transmitter. The position sensor mechanism 10 is exemplarily arranged externally at the actuator body 7. The position sensor arrangement 10 comprises, for example, two position sensor units 11, 12, which are arranged distributed along the movement path of the actuating element 3. The position sensor units 11, 12 together cover the entire movement path of the actuating element 3.

Each position sensor unit 11, 12 can comprise, for example, one or more sensor elements (not shown in the figures), in particular magnetic sensor elements, for example hall sensor elements. Expediently, a magnet is arranged at the actuating element 3, the magnetic field of which can be detected by means of a magnetic sensor element.

The position sensor device 10 is expediently designed to detect the position of the actuating element 3 over the entire movement path of the actuating element 3.

Expediently, no pressure sensor, in particular no pressure sensor for measuring the pressure in one of the pressure chambers 8, 9, is present at the pneumatic actuator 2.

The system 100 expediently comprises a hose assembly 28, by means of which the compressed air supply device 4, in particular the valve assembly 14, is pneumatically connected to the pneumatic actuator 2. A first hose 51 pneumatically connects the first pressure outlet 23 with the first pressure cavity 8 and a second hose 52 pneumatically connects the second pressure outlet 24 with the second pressure cavity 9. In an alternative embodiment, in which the pneumatic actuator 2 has only one pressure chamber, the hose assembly 28 expediently comprises only one hose.

The control unit 15 of the upper stage is configured as an example to be able to store a programmed control unit, SPS, and is connected in communication with the valve assembly 14, in particular with the control unit 19. The superordinate control unit 15 is expediently also connected to a cloud server 16, in particular via a wide area network 22, preferably via the internet. The control unit 15 of the previous stage is expediently designed to provide a setpoint signal which presets a setpoint position to which the actuating element 3 is adjusted within the range of the position adjustment.

The user device 49 is exemplarily related to a mobile device, such as a smartphone, a tablet computer, and/or a laptop computer. Furthermore, the user device 49 can relate to a desktop computer, for example a PC. The user device 49 is suitably communicatively connected to the control unit 19, the cloud server 16 and/or the superordinate control unit 15, in particular via a wide area network 22, for example the internet. The user device 49 is in particular designed for user input of friction information and/or quality information. Suitably, a user interface can be employed by the user device 49, which is provided, for example, on the cloud server 16, the control section 15 and/or the control unit 19. The user interface suitably relates to a network interface. The user interface is used, inter alia, for inputting friction information and/or quality information by a user. Furthermore, the user interface is preferably used to select, activate and/or load an application program on the control unit 19, which provides a position regulator and/or an assistance program, which is also explained later. Furthermore, the user device 49 is suitably configured for operating and/or displaying the helper program.

Suitably, the cloud server 16 is arranged remotely from the valve assembly 14 and/or the pneumatic actuator 2, in particular at other geographical locations. Preferably, the cloud server 16 is configured for providing an application by means of which a position adjustment and/or assistance program is provided. The application can be loaded by the cloud server 16 onto the superordinate control unit 15 and/or control unit 19, suitably in response to user input by means of the user device 49.

Fig. 2 shows an exemplary valve mechanism 21, by means of which the pressure for the pressure chambers 8, 9 can be provided. The valve mechanism 21 is part of the compressed air supply device 4, in particular of the valve assembly 14, preferably of the valve module 17.

The valve mechanism 21 has two pressure outlets 23, 24, by means of which two separate compressed air pressures and/or two separate compressed air mass flows can be provided. The valve mechanism 21 furthermore has an exhaust connection 26 connected to an exhaust line and a ventilation connection 27 connected to a ventilation line. Suitably, adjacent the supply pressure at the ventilation coupling 27 and/or adjacent the atmospheric pressure at the exhaust coupling 26.

The valve mechanism 21 comprises, for each pressure outlet 23, 24, one or more valve segments 48, by means of which the size of the respective outlet opening can be adjusted, which outlet opening is passed through when compressed air is supplied or drawn off at the respective pressure outlet 23, 24.

In fig. 2, the valve mechanism 21 is exemplarily implemented as a full bridge of four 2/2 directional valves 31, 32, 33, 34. The first 2/2 directional control valve 31 opens between the ventilation connection 27 and the first pressure outlet 23, the second 2/2 directional control valve 32 opens between the first pressure outlet 23 and the exhaust connection 26, the third 2/2 directional control valve opens between the exhaust connection 26 and the second pressure outlet 24 and the fourth 2/2 directional control valve opens between the second pressure outlet 24 and the ventilation connection 27.

The first pressure outlet 23 can optionally be connected to the exhaust gas line via a first 2/2 directional control valve or to the scavenging line via a second 2/2 directional control valve, and the second pressure outlet 24 can optionally be connected to the exhaust gas line via a third 2/2 directional control valve or to the scavenging line via a fourth 2/2 directional control valve.

Each 2/2 directional valve 31, 32, 33, 34 is exemplarily configured as a proportional valve; that is, each 2/2 diverter valve 31, 32, 33, 34 has a valve ring 48 that can be placed in an open position, a closed position, and any intermediate position between the open and closed positions. The 2/2 directional valves 31, 32, 33, 34 are preferably pilot valves, each having two pilot valves 41, 42, via which a valve member can be actuated. The pilot valves 41, 42 are configured as piezo valves. The aforementioned outlet opening can be adjusted by the position of the corresponding valve collar 48.

Illustratively, the first and second 2/2 diverter valves 31, 32 form a first half-bridge and the third and fourth 2/2 diverter valves 33, 34 form a second half-bridge. Preferably, the outlet opening of the first pressure outlet 23 can be adjusted by the first half-bridge and the outlet opening of the second pressure outlet 24 can be adjusted by the second half-bridge.

The valve assembly 14 suitably comprises a pressure sensor assembly 29 with one or more pressure sensors in order to detect the pressure of the valve assembly 14, in particular the valve mechanism 21.

Illustratively, the pressure sensor assembly 29 includes a first pressure outlet pressure sensor 45 for detecting the pressure provided at the first pressure outlet 23 and/or a second pressure outlet pressure sensor 46 for detecting the pressure provided at the second pressure outlet 24. Expediently, the pressure sensor arrangement 29 furthermore comprises a supply air pressure sensor 44 for detecting the pressure provided at the ventilation connection 27 and/or an exhaust air pressure sensor 43 for detecting the pressure provided at the exhaust connection 26.

Suitably, the valve assembly 14, in particular the valve mechanism 21, comprises a stroke sensor 47 for detecting the position of the valve link 48. The compressed air supply device 4 is designed in particular for determining the size of the outlet openings of the pressure outlets 23, 24 by means of a travel sensor 47.

The position adjustment performed by the compressed air supply device 4 shall be discussed in more detail below:

the compressed air supply device 4 is expediently designed to perform a position adjustment over the entire movement path of the actuating element 3. Preferably, the compressed air supply device 4 is designed to position the actuating element 3 by means of position adjustment at any desired position along the movement path. The actuating element 3 can expediently be positioned by position adjustment at any desired position along the movement path.

Preferably, the compressed air supply device comprises a position regulator, by means of which the position regulation of the actuating element 3 is provided. The position controller is expediently implemented as a program, in particular as an application program, which is implemented in particular on the valve assembly 14, preferably on the control unit 19. The position controller 50 is implemented in particular on a microcontroller of the control unit 19. Alternatively or in addition thereto, the position controller 50 can also be implemented on the cloud server 16 and/or the superordinate control unit 15.

The position controller is expediently designed to provide a control variable signal on the basis of the setpoint signal. The theoretical value signal is provided by, for example, the control unit 19, the control section 15, and/or the cloud server 16. The theoretical value signal presets a theoretical position. The valve assembly 14 is designed for actuating the valve mechanism 21, in particular the 2/2 directional control valves 31, 32, 33, 34, in particular the pilot control valves 41, 42 thereof, on the basis of the timing variable signal. One or more conductivity values (leitterte) are preset, for example, by a calibration variable signal, as a function of which the position of the valve element 48 is adjusted and thus the outlet openings of the pressure outlets 23, 24 are adjusted.

The position controller is in particular designed to provide a calibration variable signal as a function of the setpoint value signal and/or the measured variable signal.

The measured variable signals suitably comprise measured values of the position sensor system 10, of the pressure sensor assembly 29, in particular of the pressure sensors 43, 44, 45, 46 and/or of the travel sensor 47. In other words, the measured variable signal includes, in particular, the measured position of the actuating element 3, the measured pressure at the exhaust connection 26, the measured pressure at the gas exchange connection 27, the measured pressure at the pressure outlet 23, the measured pressure at the pressure outlet 24 and/or the measured position of the valve collar 48. The measured pressure can expediently be provided as a pressure difference in the measured variable signal. Furthermore, the measured position can be provided as a conductivity value in the measured variable signal.

The compressed air supply device 4, in particular the position controller, is designed to take into account friction and/or mass information during the position control of the actuating element 3.

The friction information describes the friction occurring when positioning the actuating element 3, in particular the friction coefficient and/or the friction force. Suitably, the friction information comprises friction parameters describing said friction. The friction includes, for example, friction between the actuating element 3 and the actuator body 7, in particular between the piston 5 and the actuator body 7. Alternatively or additionally, the friction expediently includes friction between a drive object driven by the actuating element and a guide at which the drive object is supported.

The mass information describes the mass to be set in motion when positioning the actuating link 3. Suitably, the quality information comprises a quality parameter describing said quality. The mass comprises, for example, the mass of the actuating element 3. Alternatively or in addition thereto, the mass suitably comprises the mass of a drive object driven by the actuating element 3.

Expediently, the compressed air supply device 4, in particular the position controller, is designed to calculate one or more controller parameters for position control, for example a controller gain (regeverrst ä rkungen), on the basis of the friction information and/or the quality information and to apply said controller parameters during position control. Preferably, the compressed air supply device 4, in particular the position controller, is designed to execute a controller design on the basis of the friction information and/or the quality information in order to calculate controller parameters, in particular a controller gain, for the position control. The compressed air supply device 4 is expediently designed to perform an automatic parameterization of the position adjustment on the basis of the friction information and/or the quality information.

The position control can be adapted to the specific application and/or to the pneumatic actuator 2 by means of the mass information and/or the friction information.

Suitably, the system 100 has a user interface for manually entering friction information and/or quality information. Suitably, the input is made directly at the point of use of the system 100, typically when the system 100 is put into operation. The position controller and/or the helper program are expediently provided in the application program and the input of the friction information and/or the quality information takes place by means of or in the application program. Exemplarily, the aforementioned user device 49 serves as a user interface.

The quality information and/or the friction information are in particular parameters which can be input by a user, for example by means of the user device 49.

The helper procedure should be discussed in more detail below.

The compressed air supply device 4 is expediently designed for automatically triggering the assistance program, for example in the start mode of operation. Alternatively or in addition thereto, a user interface of the system 100, for example the user device 49, comprises functionality for triggering the helper program manually (that is to say selectively prompted by an explicit user input).

The helper program is expediently implemented on the control unit 19, the control unit 15, the external cloud server 16 and/or the user device 49, in particular as an application program.

The compressed air supply device 4 is designed to charge the pneumatic actuator 2 with compressed air within the scope of the assistance procedure in order to set the actuating element 3 in an oscillating movement 60, in which the actuating element 3 is moved alternately in a first movement direction 61 and in a second movement direction 62. The compressed air supply device 4 is designed to detect a pressure value of the compressed air and a position value of the actuating element 3 during the oscillating movement 60 and to determine and/or verify friction information and/or quality information on the basis of the detected pressure value and the detected position value.

Fig. 3 shows a line diagram of an exemplary oscillating movement 60 into which the actuating element 3 is set during the assistance procedure. In the diagram of fig. 3, the position x of the actuating element 3 is plotted against the time t.

In the case of an oscillating movement 60, the actuating element 3 moves along a movement path. The oscillating movement 60 is in particular sinusoidal. The oscillatory motion 60 has a plurality of periods 63.

The compressed air supply device 4 is preferably designed to vary the speed of the actuating element 3 during the oscillating movement 60, so that a plurality of periods 63 of the oscillating movement 60 differ from one another with respect to their speed profile, in particular their maximum speed, and pressure and position values are detected across the plurality of periods 63. The compressed air supply device 4 is used in particular for determining and/or verifying the friction and/or quality information by using pressure and position values which are detected over a plurality of periods 63 differing from one another in their speed profile, in particular their maximum speed.

As shown in fig. 3, the periods 63 of the oscillating movement 60 differ from one another in their speed profile. The plurality of periods 63 differ from each other in particular with respect to their maximum speed.

Exemplarily, the oscillatory motion 60 comprises a plurality of velocity phases 67A, 67B, 67C, which respectively comprise a plurality of periods 63. Alternatively, one, several or all of the speed phases 67A, 67B, 67C can also comprise only one respective cycle 63. The respective periods 63 of the speed phases expediently each have the same speed profile, in particular the same maximum speed. The speed phases 67A, 67B, 67C expediently differ from one another with regard to their speed profile, in particular their maximum speed. In fig. 3 three different speed phases 67A, 67B, 67C are shown. Preferably, the oscillating movement 60 comprises at least three, in particular at least six, different speed phases.

The different speed phases or periods 63 can be generated in particular by one or more frequency sweeps.

The compressed air supply device 4 is preferably configured for carrying out at least one frequency sweep of the oscillating movement 60 and for detecting pressure values and position values during the frequency sweep. Exemplarily, different speed phases and/or periods with different speed profiles are obtained by performing a frequency sweep, that is to say by varying the frequency of the oscillating movement 60.

Exemplarily, the compressed air supply device 4 is configured for performing at least one first frequency sweep 64 of the oscillating movement 60 and a second frequency sweep 65 of the oscillating movement and detecting the pressure value and the position value during the two frequency sweeps 64, 65. The first frequency sweep 64 is exemplarily a frequency sweep with an increasing frequency and the second frequency sweep 65 is exemplarily a frequency sweep with a decreasing frequency.

The speed phases 67A, 67B, 67C of the oscillating movement 60 exemplarily differ from each other in their frequency. The frequency of second speed stage 67B is greater than the frequency of first speed stage 67A and the frequency of third speed stage 67C is greater than the frequency of second speed stage 67B. In each frequency sweep 64, 65, a plurality of speed phases 67A, 67B, 67C are performed at different frequencies.

The compressed air supply device 4 is designed to detect the pressure value of the compressed air and the position value of the actuating element 3 during the oscillating movement 60, in particular during each frequency sweep 64, 65. The detected pressure values suitably comprise the pressures at the pressure outlets 23, 24 detected by means of the pressure sensor assembly 29. Friction information and/or quality information is calculated based on the pressure values and position values detected during the frequency sweeps 64, 65.

As explained in detail later, the compressed air supply device 4 is expediently designed to calculate the frictional force acting on the actuating element 3 on the basis of the pressure value and the position value. The compressed air supply device 4 is in particular designed to calculate a friction curve 66 (shown in fig. 4 and 5) of the friction acting on the actuating element 3.

The compressed air supply device 4 is expediently designed for calculating friction information and/or mass information on the basis of the friction force curve 66, as will be explained in more detail below. The calculation of the friction curve 66 should first be discussed in more detail.

Exemplarily, the compressed air supply device 4 is configured for calculating the friction force of the friction force curve 66 as a difference between a first pneumatic force acting on the actuating element 3 in the first movement direction 61, a second pneumatic force acting on the actuating element 3 in the second movement direction 62, an inertial force caused by an acceleration of the actuating element 3, and/or a gravitational force acting on the actuating element 3. The compressed air supply device 4 is in particular designed for calculating the first pneumatic force and/or the second pneumatic force on the basis of the detected pressure values.

For example, the compressed air supply device 4 is designed to calculate the friction curve 66 on the basis of the following equation of motion:

F_Ris a friction force.

F_ADThe first pneumatic force acting in the first direction of motion 61 is provided by the compressed air charge of the first pressure chamber 8. E.g. F_ADCalculated as the pressure p of the first pressure cavity 8_ADAnd a first active surface A of the actuating element 3_ADProduct of (a), pressure p_ADActing on the first acting surface. That is, F_ADAsAnd (6) obtaining. Pressure p_ADPreferably based on the pressure value of the first pressure outlet 23 detected by means of the pressure sensor assembly 29. According to an alternative embodiment (in which a pressure sensor is present at the actuator 2), the pressure p_ADIt is also possible to measure directly at the actuator 2 as a pressure value.

F_LDThe second pneumatic force acting in the second direction of motion 62 is provided by the compressed air charge of the second pressure chamber 9 and/or by the ambient pressure acting on the actuating element 3, in particular the piston rod 6. E.g. F_LDIncluding the pressure p of the second pressure cavity 9_LDAnd a second active surface A of the actuating element 3_LDProduct of (a), pressure p_LDActing on the second acting surface. Exemplarily, F_LDFurthermore, the ambient pressure p is included_AMBIn particular the product of atmospheric pressure and the third effective surface of the actuating element 3, the ambient pressure p_AMBActing on the third acting surface. Exemplarily, the third acting surface is used as the first acting surface A_ADAnd the second action plane A_LDThe difference of (a) to (b) is obtained. That is, F_LDAsAnd (6) obtaining. Pressure p_LDPreferably based on the pressure value of the second pressure outlet 24 detected by means of the pressure sensor assembly 29. According to an alternative embodiment (in which a pressure sensor is present at the actuator 2), the pressure p_LDIt is also possible to measure directly at the actuator 2 as a pressure value.

m is the mass to be put in motion when positioning the actuating link 3; m in particular present quality information, e.g. quality parameters. M is for example the mass of the actuating element 3 plus the mass, if any, of the drive object to be driven by means of the actuating element 3.

The acceleration of the actuating element is obtained and is obtained, for example, by a second differentiation of the position value of the actuating element 3, which is detected, in particular, by means of the position sensor arrangement 10.

g is the acceleration of gravity.

α is the installation position of the actuating element 3. In particular α is the angle between the movement path of the actuating element 3 and the horizontal plane (oriented perpendicular to the gravitational acceleration).

As explained above, the pressure p of the pressure chambers 8, 9_ADAnd p_LDIs exemplarily calculated based on the pressure values of the pressure outlets 23, 24 detected by means of the pressure sensor assembly 29. The pressure value detected by means of the pressure sensor assembly 29 can also be referred to as a measured pressure and the pressure p calculated on the basis of the measured pressure_ADAnd p_LDIt can also be referred to as calculating pressure. The pressure is calculated, in particular the estimated pressure.

That is to say, the compressed air supply device 4 is preferably designed to measure a measured pressure of the compressed air supply device 4 by means of the pressure sensor arrangement 29, to provide the measured pressure as a pressure value, and to calculate a calculated pressure on the basis of the measured pressure, which calculated pressure represents the pressure prevailing in the pressure chambers 8, 9 of the pneumatic actuator 2. The compressed air supply device 4 is furthermore designed to determine and/or verify friction information and/or quality information on the basis of the calculated pressure.

Preferably, the compressed air supply device 4 is configured as a hose module of the application hose assembly 28 for calculating the calculated pressure. The hose module depicts the effect of the hose on pressure. The hose modules describe the respective pressure in the pressure chambers 8, 9 in relation to the respective pressure at the pressure outlets 23, 24. Preferably, the calculated pressure is calculated based on the pressure value and the position value.

In the following, it should be discussed in more detail with reference to fig. 4 and 5 how the friction information and/or the mass information can be determined on the basis of the friction force curve 66.

The friction force curve 66 shown in fig. 4 and 5 is exemplary a parametric curve. The points of the friction curve 66 are accordingly passed through the time-dependent friction force F_R(t) and the time-dependent speed v (t) of the actuating element 3. The points of the friction force curve are taken as a function of time t. Plotting the time-dependent friction force F on the y-axis_RAnd the time-dependent speed v of the actuating element 3 during the oscillating movement 60 is plotted on the x-axis. The velocity v shall also be referred to as the oscillation velocity v. The time-dependent speed v is calculated, for example, by differentiating the detected position of the actuating element 3.

The friction force curve 66 shown in fig. 4 should also be referred to as an unoptimized friction force curve 66A. As explained subsequently, the unoptimized frictional force curve 66A is based on incorrect assumptions for the mass information, in particular for the mass parameter m. The friction curve 66 shown in fig. 5 should also be referred to as the optimized friction curve 66B. As explained subsequently, the optimized friction curve 66B is based on the correct assumption for the mass information, in particular for the mass parameter m. That is to say, the friction curves 66A, 66B differ by the respective selected mass parameter m, with which the respective friction force Fr is calculated.

As mentioned above, the friction curve 66 is calculated by means of the pressure values detected during the oscillating movement 60. In this connection, it is to be mentioned that for better presentability, fig. 3 shows an oscillating movement 60 that differs from the oscillating movement on which the friction force curve 66 shown in fig. 4 and 5 is based. Thus, for example, the oscillating movement 60 of fig. 3 has fewer speed phases than the friction curve 66 of fig. 4.

The unoptimized friction curve 66A has a plurality of speed phases that correspond to the speed phases of the underlying oscillatory motion. Exemplarily, the friction curve 66A has speed phases 67A, 67B, 67C, 67D, 67E, and 67F. Each of the velocity phases extends over one or more cycles of the oscillatory motion. The unoptimized friction force profile has a plurality of periods that correspond to the periods of the underlying oscillatory motion.

The unoptimized friction curve 66A has a spiral course. The friction curve 66A circles around zero once per cycle. In each cycle, that is to say for each wrap around zero, the friction force curve 66A passes through each of the four quadrants of the diagram. With the rising maximum speed of the speed phase, in particular of the cycle, that is to say, by way of example, with the rising frequency, the distance of the friction curve 66A from the origin of coordinates increases, so that the friction curve has a spiral course. A plurality of different friction values are given for each speed value v of the friction curve 66A. The friction curve 66A has hysteresis. Depending on whether the speed v becomes larger or smaller, friction forces of different strengths are obtained (for the same speed v), for example not only positive but also negative friction forces are obtained for the same speed v due to hysteresis. This course of the friction curve 66A results from a wrong assumption for the mass parameter m.

The compressed air supply device 4 is designed to perform a parametric optimization of the mass parameter m in the case of the friction curve 66 in order to obtain an optimized friction curve 66B. For example, the compressed air supply device 4 performs a recursive least squares method to obtain an optimized friction curve 66B based on the unoptimized friction curve 66A. The compressed air supply device 4 is designed to calculate the deviation, in particular the hysteresis, of the friction curve 66 between different cycles, in particular between different speed phases, for which one of the mass parameters m is the smallest, and to provide the mass parameter value, in particular the mass parameter m, as the mass information, in particular the mass parameter m, at which the deviation is the smallest.

The compressed air supply device 4 is exemplarily configured for applying a cost function in order to calculate in which quality parameter value the deviation is minimal. For example, the compressed air supply device 4 performs a minimization of a cost function, for exampleIn order to obtain a quality parameter value. Expediently, the compressed air supply device 4 performs a minimization of the cost function with the additional condition that the mass parameter m is greater than zero.

The optimized friction curve 66B shown in fig. 5 is the result of a cost function minimization. In this case, the different cycles, in particular the different speed phases, have essentially a single friction characteristic, wherein a (essentially) unambiguous assignment between the speed values v and the friction values Fr is obtained, so that only one friction value Fr is assigned to each speed value v.

Exemplarily, the optimized friction curve 66B has a substantially S-shaped course. The optimized friction curve 66B goes through zero. The optimized friction curve 66B illustratively runs through the first and third quadrants (and particularly not through the second and fourth quadrants). The optimized friction curve 66B has a negative curvature in the first quadrant and a positive curvature in the third quadrant.

The compressed air supply device 4 is designed to determine friction information on the basis of the optimized friction curve 66B. For example, the compressed air supply device 4 generates a friction function based on the optimized friction curve 66B, which describes the friction Fr as a function of the speed v and lies on the optimized friction curve 66B. The friction function suitably presents friction information.

Furthermore, the compressed air supply device 4 can be designed to calculate a coulomb friction LBD, which is in particular independent of the speed, of the actuating element 3 on the basis of the friction information. As shown in fig. 5, for example, the end region of the friction curve 66B spaced apart from the zero point can be extrapolated (in particular by means of a straight line) toward the y axis. The friction force Fr is expediently provided as coulomb friction LBD, with which the extrapolation cuts the y-axis. Suitably, the compressed air supply device 4 is configured for storing coulomb friction LBD, wherein the position adjustment is applied and/or issued, for example by the user equipment 49.

As explained above, the compressed air supply device 4 is configured to calculate a friction force curve 66 of the friction force acting on the actuating element 3 over a plurality of cycles 63 of the oscillating movement 60 as a function of the oscillating movement 60, in particular the oscillating speed v, on the basis of the pressure values and the position values, and to calculate the friction information and/or the quality information using the friction force curve 66. The friction force of the friction force curve depends on a mass parameter m, which describes the mass to be set in motion when positioning the actuating element 3. The compressed air supply device 4 is designed to calculate the deviation of the friction curve 66 between the different periods 63 of the oscillating movement, which value of the mass parameter m is the smallest, and to provide the mass parameter value, in which the deviation is the smallest, as the mass information m. The compressed air supply device 4 is designed to determine the friction information on the basis of a friction curve 66, in which case the deviation is minimal.

According to a preferred embodiment, the compressed air supply device 4 is designed to verify friction information, for example friction parameters, entered by the user and/or quality information, for example quality parameters, entered by the user. For example, the compressed air supply device 4 is designed to compare the entered friction information with the measured friction information. If the entered friction information does not correspond to the measured friction information, the compressed air supply device 4 suitably gives a warning to the user, for example by means of the user device 49, and/or replaces the entered friction information with the measured friction information for the purpose of position control.

For example, the compressed air supply device 4 compares the input mass information with the measured mass information. If the input quality information does not correspond to the measured quality information, the compressed air supply device 4 gives an alarm to the user, for example via the user device 49, and/or replaces the input quality information with the measured quality information for the position control application.

According to a preferred embodiment, the compressed air supply device 4 is designed to apply the friction information and/or the quality information determined by means of the assistance program to determine a wear state, for example an aging state, of the compressed air supply device 4 and/or the pneumatic actuator 2. The compressed air supply device 4 is designed in particular for providing a predictive maintenance function and for identifying ageing and/or faults, for example, when a wear state determined is used. As a basis for determining the wear state, in particular friction information and/or quality information is used.

As explained above, the compressed air supply device 4 is expediently configured to calculate the friction information and/or the mass information using the equation of motion of the actuating element 3 and the detected pressure values and the detected position values of the actuating element. In the case of the application of the hose module, the compressed air supply device 4 estimates the pressure in the pressure chambers 8, 9 on the basis of the detected pressure values and uses the estimated pressure for the calculation of the friction information and/or the quality information. Preferably, the compressed air supply device 4 does not use an additional function (ansatzfunk) for the calculation of the friction information and/or the mass information. Furthermore, it is expedient to be able to freely select a cost function with which the optimized friction curve is calculated.

Expediently, a simplified commissioning of the system 100 is achieved by the described measures. The compressed air supply device 4 recognizes the friction, in particular the friction information, of the actuating element 3 by a learning movement (Lernfahrt), in particular by the oscillating movement 60. The identification of the parameters of the friction is carried out by a parametric optimization of the equation of motion for the actuating element, for example by a recursive least squares method. The equation of motion can also be referred to as a kinetic equation. Preferably, the user does not have to determine the friction information himself.

The quality information is made reliable (i.e., verified) or verified by learning the movement, in particular by the oscillating movement. The parameter identification is performed by applying a parametric optimization of the equation of motion for the actuation element, for example by a recursive least squares method.