System and method for adjusting the position of an adjusting element

Abstract

The present invention relates to a system (100), comprising: a fluid actuator (2) having an adjusting element (3) which can be loaded with pressure fluid; a pressure fluid supply device (4), which is constructed to: perform position adjustment of the adjusting element (3) and to load the fluid actuator (2) with pressure fluid within the scope of the position adjustment so as to move the adjusting element (3) to a predetermined position, wherein the pressure fluid supply device (4) is constructed to: perform position adjustment under consideration of at least one system parameter describing a physical property of the system and / or at least one prescribed parameter defining a prescribed positioning of the adjusting element (3), wherein the pressure fluid supply device (4) is also constructed to: implement an auxiliary program; and within the scope of the auxiliary program, determine and / or verify the system parameters and / or prescribed parameters based on the movement of the adjusting element (3) and / or consideration of physical limits.

Description

Technical Field

[0001] The invention relates to a system, comprising a fluid actuator with an adjusting element which can be loaded with a pressure fluid. The system also comprises a pressure fluid supply device, which is configured to perform a position adjustment of the adjusting element and to load the fluid actuator with pressure fluid within the scope of the position adjustment in order to move the adjusting element to a predetermined position. The pressure fluid supply device is configured to perform the position adjustment taking into account at least one system parameter describing a physical property of the system and / or at least one prescribed parameter defining a regulation for the positioning of the adjusting element. Background Art

[0002] The pressure fluid supply device comprises, for example, a valve group, which is connected to a fluid actuator via a hose. The fluid actuator is, for example, a pneumatically driven cylinder.

[0003] The system is suitable for use in industrial automation, for example in order to position a driven object such as a tool, a workpiece and / or a machine part by means of an adjusting element.

[0004] Fluid actuators include one or more pressure chambers which are pressurized within the scope of position control by applying pressure fluid in order to thus effect a positioning of the actuating element. Position control by means of compressed air application is also referred to as servopneumatics.

[0005] The position control provided by the pressure fluid supply device can advantageously be used for a variety of different applications and / or in conjunction with different fluid actuators. The dynamic characteristics of the valve device of the pressure fluid supply device can also be varied. In order to be able to achieve the best possible, in particular the most precise and / or rapid, position control, it is usually necessary to adapt the position control to the respective application and / or the respectively used fluid actuator and / or the respectively used valve device by means of parameters, such as system parameters and / or defined parameters.

[0006] Suitably, the system parameters and / or the specified parameters are input by a user into the pressure fluid supply device on site (eg during commissioning), for example into an application program for providing the position regulation. Summary of the invention

[0007] The object of the present invention is to modify the system mentioned at the outset in such a way that it is easier for the user to achieve the best possible position adjustment.

[0008] This object is achieved by a system according to claim 1. The pressure fluid supply device of the system is designed to carry out an auxiliary program and to determine and / or verify at least one system parameter and / or at least one predetermined parameter within the scope of the auxiliary program based on the displacement of the adjustment element and / or consideration of physical limits.

[0009] In particular, an auxiliary program is provided which includes one or more auxiliary functions which help the user to run the position control with correct system parameters and / or predefined parameters, i.e., those which are adapted as well as possible to the system. By running the position control with correct system parameters and / or predefined parameters, a good position control, i.e., as precise and / or fast as possible, can then be achieved.

[0010] The at least one system parameter describes in particular the friction occurring when positioning the fluid actuator, the mass to be moved when positioning the adjusting element and / or the dynamic behavior of the valve device of the pressure fluid supply device. Preferably, for one, a plurality of or each of these variables there is a separate system parameter which is determined and / or verified by means of the auxiliary program in the manner and method described.

[0011] Furthermore, there may also be a plurality of predefined parameters which are likewise determined and / or verified in the manner described with the aid of the auxiliary program.

[0012] It may be difficult for the user to determine the at least one system parameter, such as the friction and / or mass mentioned, himself. The auxiliary program advantageously provides the following functionality: the system parameter is automatically determined by the pressure fluid supply device, in particular automatically determined based on the movement of the adjusting element. Exemplarily, the adjusting element is moved by a learning operation and / or in normal operation.

[0013] In particular, when a user enters system parameters and / or prescribed parameters into the pressure fluid supply device, it may happen that (in particular due to inadvertence or input errors) the entered system parameters and / or prescribed parameters are incorrect, i.e., in particular, are not adapted to the system. The auxiliary program expediently provides the following functions: verifying the system parameters and / or prescribed parameters (in particular entered by the user), more precisely based on the movement of the adjusting element and / or taking into account physical limits. Exemplarily, the adjusting element is moved by a learning operation and / or in normal operation.

[0014] According to a preferred design, the pressure fluid supply device is configured to use the system parameters determined by the auxiliary program to determine the wear state, for example, the aging state, of the pressure fluid supply device and / or the fluid actuator. The pressure fluid supply device is particularly configured to provide a predictive maintenance function and, for example, to identify aging and / or defects by using the determined wear state. In particular, the aforementioned dynamic characteristics and / or the aforementioned friction are used as a basis for determining the wear state.

[0015] Further advantageous embodiments are the subject matter of the dependent claims.

[0016] The present invention also relates to a method for operating the system described above. The method comprises the following steps: executing an auxiliary program.

[0017] The method is expediently designed to correspond to the configuration of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In the following, exemplary details and exemplary embodiments are explained with reference to the accompanying drawings.

[0019] Figure 1 A schematic diagram of a system having a pressure fluid supply device, a hose arrangement and a fluid actuator is shown; and

[0020] Figure 2 A schematic diagram of a valve arrangement is shown. DETAILED DESCRIPTION

[0021] Figure 1 A system 100 is shown, which comprises a fluid actuator 2 which can be loaded with a pressure fluid and has an adjusting element 3. The system 100 also comprises a pressure fluid supply device 4 which is designed to carry out a position adjustment of the adjusting element 3 and to load the fluid actuator 2 with pressure fluid within the scope of the position adjustment in order to move the adjusting element 3 to a predetermined position.

[0022] The pressure fluid supply device 4 is designed to perform position control taking into account at least one system parameter describing a physical property of the system and / or at least one prescribed parameter defining a regulation for the positioning of the adjusting element 3. The pressure fluid supply device 4 is also designed to implement an auxiliary program and to determine and / or verify the at least one system parameter and / or the at least one prescribed parameter within the scope of the auxiliary program based on the movement of the adjusting element 3 and / or consideration of physical limits.

[0023] In the following, other exemplary details shall be set forth.

[0024] First, the pressure fluid supply device 4 should be discussed:

[0025] The pressure fluid supply device 4 comprises a valve mechanism 14, which is exemplarily configured as a valve group, through which pressure fluid is provided for position adjustment of the actuator 2. The valve mechanism 14 does not necessarily have to be a valve group. The valve mechanism 14 can also be implemented as a single valve or other valve unit, for example.

[0026] Two pressure outputs 23, 24 are provided on the valve mechanism 14 for providing a pressure fluid, in particular compressed air. Each of the two pressure outputs 23, 24 is fluidically connected to a corresponding pressure chamber 8, 9 of the fluid actuator 2. In an alternative embodiment in which the actuator 2 has only one pressure chamber, only one pressure output is connected to one pressure chamber accordingly.

[0027] The valve mechanism 14 has a pressure sensor device 29, which has pressure sensors, with which the pressure at the pressure outputs 23, 24 and / or the pressure in the exhaust port 26 and / or the intake port 27 can be measured. These pressure sensors are preferably arranged on the valve mechanism 14, in particular on the valve group. Figure 2 As further explained, the pressure sensor device 29 exemplarily includes a first pressure output pressure sensor 45 , a second pressure output pressure sensor 46 , an exhaust pressure sensor 43 and / or an intake pressure sensor 44 .

[0028] Exemplarily, the valve mechanism 14 includes a plurality of modules, such as a valve module 17 and / or an I / O module 18. The valve mechanism 14 also includes a control unit 19, which is preferably also implemented as a module. Suitably, the valve mechanism 14 has a carrier 20, in particular a carrier plate, on which the control unit 19, the valve disk 17 and / or the I / O module 18 are arranged.

[0029] The valve mechanism 14 is exemplarily implemented as an inline module device and can also be referred to as a valve group in particular. The modules mentioned above are in particular inline modules, which are preferably implemented in a disk shape. The valve module 17 is in particular implemented as a valve disk. Suitably, these inline modules are arranged in a row, in particular in a row along the longitudinal axis of the valve mechanism 14.

[0030] The pressure fluid supply device 4 also includes, by way of example, a higher-level control device 15 and / or optionally a cloud server 16 and / or a user device 49 .

[0031] The valve mechanism 14 is suitably connected to the upper control device 15 and / or the cloud server 16. Preferably, the valve mechanism 14 is connected to the upper control device 15 via a bus 25, in particular a local bus, such as a field bus, and / or is optionally connected to the cloud server 16 via a wide area network 22, such as the Internet.

[0032] The valve mechanism 14 is communicatively connected to the position sensor device 10 of the actuator 2, in particular, via the I / O module 18. Exemplarily, the valve mechanism 14 is communicatively connected to the position sensor device 10 via one or more communication lines 91, 92. Suitably, the position sensor value detected by the position sensor device 10 is provided to the control unit 19, the superior control device 15 and / or the cloud server 16. Suitably, the pressure sensor values ​​of the pressure sensors 43, 44, 45, 46 are also provided to the control unit 19, the superior control device 15 and / or the cloud server 16.

[0033] In the following, the fluid actuator 2 shall be discussed further.

[0034] The fluid actuator 2 is preferably a pneumatic actuator that can be loaded with compressed air. Exemplarily, the fluid actuator 2 is configured as a drive device, in particular as a drive cylinder. Exemplarily, the fluid actuator 2 includes an actuator body 7, an adjustment element 3 and at least one pressure chamber 8, 9. Exemplarily, the fluid actuator 2 includes two pressure chambers 8, 9 that can be loaded with pressure fluid independently of each other, and is particularly configured as a double-acting actuator. Alternatively, the fluid actuator 2 can also have only one pressure chamber and accordingly be configured as a single-acting actuator.

[0035] The actuator body 7 is preferably embodied as a cylinder and has an inner volume. The adjusting element 3 comprises, for example, a piston 5 and / or a piston rod 6. The piston 5 is arranged in the actuator body 7 and divides the inner volume of the actuator body 7 into two pressure chambers 8,9.

[0036] Suitably, the fluid actuator 2 comprises a position sensing device 10. The position sensing device 10 is used in particular to detect the position of the adjusting element 3. Exemplarily, the position sensing device 10 is arranged outside the actuator body 7. The position sensing device 10 comprises, for example, two position sensing units 11, 12, which are arranged distributed along the movement path of the adjusting element 3. Exemplarily, the position sensing units 11, 12 together cover the entire movement path of the adjusting element 3.

[0037] Each position sensor unit 11, 12 may include, for example, one or more sensor elements (not shown in the figures), in particular magnetic sensor elements, such as Hall sensor elements. Preferably, a magnet is arranged on the adjustment element 3, the magnetic field of which can be detected by the magnetic sensor elements.

[0038] The position sensor device 10 is expediently designed to detect the position of the actuating element 3 over the entire displacement path of the actuating element 3 .

[0039] Expediently, no pressure sensor is present on the fluid actuator 2 , in particular no pressure sensor for measuring the pressure in one of the pressure chambers 8 , 9 .

[0040] The system 100 advantageously comprises a hose arrangement 28, via which the pressure fluid supply device 4, in particular the valve mechanism 14, is fluidically connected to the fluid actuator 2. A first hose 51 fluidically connects the first pressure output 23 to the first pressure chamber 8, and a second hose 52 fluidically connects the second pressure output 24 to the second pressure chamber 9. In an alternative design in which the fluid actuator 2 has only one pressure chamber, the hose arrangement 28 advantageously comprises only one hose.

[0041] The superordinate control device 15 is designed as a programmable logic controller SPS by way of example and is communicatively connected to the valve mechanism 14, in particular to the control unit 19. The superordinate control device 15 is also preferably connected to the cloud server 16, in particular via a wide area network 22, preferably via the Internet. The superordinate control device 15 is preferably designed to provide a setpoint value signal SWS, which specifies the (setpoint) position to which the actuating element 3 is adjusted within the scope of position control.

[0042] Exemplarily, the user device 49 is a mobile device, such as a smart phone, a tablet computer and / or a laptop computer. The user device 49 can also be a desktop computer, such as a PC. Suitably, the user device 49 is connected to the control unit 19, the cloud server 16 and / or the upper control device 15 in communication, especially via a wide area network 22, such as the Internet. The user device 49 is particularly configured for user input of system parameters and / or prescribed parameters. Suitably, a user interface can be accessed through the user device 49, which is provided, for example, on the cloud server 16, the control device 15 and / or the control unit 19. Suitably, the user interface is a web interface. The user interface is particularly used for inputting system parameters and / or prescribed parameters by the user. The user interface is also preferably used to select, activate and / or load an application onto the control unit 19, which provides a position regulator and / or an auxiliary program further described below. The user device 49 is also suitably configured for operating and / or displaying the auxiliary program.

[0043] The cloud server 16 is preferably arranged away from the valve mechanism 14 and / or the fluid actuator 2, in particular at another geographical location. Preferably, the cloud server 16 is configured to provide an application program, which is used to provide position adjustment and / or auxiliary programs. The application program can be loaded from the cloud server 16 to the superordinate control device 15 and / or the control unit 19, preferably as a response to a user input using the user device 49.

[0044] Figure 2 An exemplary valve device 21 is shown, with which the pressure can be provided for the pressure chambers 8 , 9 . The valve device 21 is part of the pressure fluid supply device 4 , in particular the valve mechanism 14 , preferably the valve module 17 .

[0045] The valve device 21 has two pressure outputs 23, 24, by means of which two independent pressure fluid pressures and / or two independent pressure fluid mass flows can be provided. The valve device 21 also has an exhaust connection 26 connected to an exhaust line and an intake connection 27 connected to an intake line. Preferably, the supply pressure is applied to the intake connection 27 and / or the atmospheric pressure is applied to the exhaust connection 26.

[0046] The valve device 21 comprises one or more valve elements 48 for each pressure output 23 , 24 , by means of which the size of the respective output opening through which the pressure fluid is provided at the respective pressure output 23 , 24 can be adjusted.

[0047] exist Figure 2 In the embodiment, the valve device 21 is exemplarily implemented as a full bridge composed of four 2 / 2-way valves 31, 32, 33, 34. The first 2 / 2-way valve 31 is connected between the intake connection 27 and the first pressure output 23, the second 2 / 2-way valve 32 is connected between the first pressure output 23 and the exhaust connection 26, the third 2 / 2-way valve 31 is connected between the exhaust connection 26 and the second pressure connection 24, and the fourth 2 / 2-way valve is connected between the second pressure output 24 and the intake connection 27.

[0048] The first pressure output end 23 can be selectively connected to the exhaust pipe via the first 2 / 2-way valve or to the intake pipe via the second 2 / 2-way valve, and the second pressure output end 24 can be selectively connected to the exhaust pipe via the third 2 / 2-way valve or to the intake pipe via the fourth 2 / 2-way valve.

[0049] Exemplarily, each 2 / 2-way valve 31, 32, 33, 34 is configured as a proportional valve; that is, each 2 / 2-way valve 31, 32, 33, 34 has a valve member 48, which can be placed in an open position, a closed position, and any intermediate position between the open position and the closed position. Preferably, the 2 / 2-way valve 31, 32, 33, 34 is a pre-adjusted valve, which has two pilot valves 41, 42 respectively, through which the valve member can be operated. The pilot valves 41, 42 are exemplarily configured as piezoelectric valves. The above-mentioned output port opening can be appropriately adjusted by the position of the corresponding valve member 48.

[0050] Exemplarily, the first and second 2 / 2-way valves 31, 32 form a first half-bridge and the third and fourth 2 / 2-way valves 33, 34 form a second half-bridge. Preferably, the output opening of the first pressure output 23 can be adjusted by the first half-bridge, and the output opening of the second pressure output 24 can be adjusted by the second half-bridge.

[0051] The valve device 14 expediently comprises a pressure sensor system 29 which has one or more pressure sensors in order to detect the pressure of the valve device 14 , in particular of the valve device 21 .

[0052] Exemplarily, the valve mechanism 14, in particular the valve device 21, comprises: a first pressure output pressure sensor 45 for detecting the pressure provided at the first pressure output 23; and / or a second pressure output pressure sensor 46 for detecting the pressure provided at the second pressure output 24. Suitably, the valve mechanism 14, in particular the valve device 21, further comprises: an intake pressure sensor 44 for detecting the pressure provided at the intake connection 27; and / or an exhaust pressure sensor 43 for detecting the pressure provided at the exhaust connection 26.

[0053] The valve mechanism 14, in particular the valve device 21, expediently comprises a travel sensor 47 for detecting the position of the valve element 48. The pressure fluid supply device 4 is designed in particular to determine the size of the output opening of the pressure outputs 23, 24 by means of the travel sensor 47.

[0054] In the following, the position regulation performed by the pressure fluid supply device 4 shall be discussed further:

[0055] The pressure fluid supply device 4 is preferably configured to perform position adjustment within the entire movement path of the adjustment element 3. Preferably, the pressure fluid supply device 4 is configured to position the adjustment element 3 to any position along the movement path by means of position adjustment. Preferably, the adjustment element 3 can be positioned at any arbitrary position along the movement path by position adjustment.

[0056] Preferably, the pressure fluid supply device comprises a pressure regulator, with which the position regulation of the adjusting element 3 is provided. The position regulator is preferably implemented as a program, in particular as an application program, which is implemented in particular on the valve mechanism 14, preferably on the control unit 19. The position regulator 50 is implemented in particular on a microcontroller of the control unit 19. Alternatively or in addition thereto, the position regulator 50 can also be implemented on the cloud server 16 and / or the superior control device 15.

[0057] The position regulator is preferably configured to provide a setpoint signal based on a setpoint signal. The setpoint signal is provided, for example, by a control unit 19, a control device 15 and / or a cloud server 16. Preferably, the setpoint signal includes a position setpoint signal. The valve mechanism 14 is configured to control the valve device 21, in particular the 2 / 2 directional valves 31, 32, 33, 34, in particular the pilot valves 41, 42 of these 2 / 2 directional valves, based on the setpoint signal. Exemplarily, one or more conductance values ​​are specified by the setpoint signal, and the position of the valve member 48 is adjusted according to these conductance values ​​and thus the output opening of the pressure output ends 23, 24 is adjusted.

[0058] In particular, the position controller is designed to provide a setpoint signal as a function of the setpoint value signal and / or the measured variable signal.

[0059] The measured variable signal expediently comprises measured values ​​of the position sensor device 10, the pressure sensor device 29, in particular the pressure sensors 43, 44, 45, 46 and / or the travel sensor 47. The measured variable signal thus comprises in particular the measured position of the actuating element 3, the pressure measured at the exhaust port 26, the pressure measured at the intake port 27, the pressure measured at the pressure output 23, the pressure measured at the pressure output 24 and / or the measured position of the valve element 48. The measured pressure can expediently be provided in the measured variable signal as a pressure difference. Furthermore, the measured position can be provided in the measured variable signal as a conductance value.

[0060] The pressure fluid supply device 4 , in particular the pressure regulator, is designed to take into account the at least one system parameter and / or the at least one specified parameter when adjusting the position of the adjusting element 3 .

[0061] The at least one system parameter describes a physical property of the system. For example, the at least one system parameter describes the friction, in particular the friction coefficient and / or the friction force, which occurs when positioning the fluid adjustment element 3. Preferably, the system parameter comprises a friction parameter, which describes the friction. The friction comprises, for example, the friction between the adjustment element 3 and the actuator body 7, in particular between the piston 5 and the actuator body 7. Alternatively or in addition thereto, preferably, the friction comprises the friction between a driven object driven by the adjustment element and a guide on which the driven object is arranged.

[0062] Alternatively or in addition, the at least one system parameter describes a mass to be put into motion when positioning the adjusting element 3. Preferably, the system parameter comprises a mass parameter, which describes the mass. The mass comprises, for example, the mass of the adjusting element 3. Alternatively or in addition, preferably, the mass comprises the mass of a driven object driven by the adjusting element 3.

[0063] Alternatively or in addition, the at least one system parameter describes the dynamic behavior of the valve device 21 of the pressure fluid supply device. The term "dynamic behavior" refers in particular to the frequency response and / or bandwidth of the valve device 21, exemplarily one or more of the 2 / 2-way valves. The system parameter describes in particular how quickly the valve device 21, in particular one or more of the 2 / 2-way valves, reacts to a quantity adjustment signal, i.e., for example, how quickly the valve device 21 can provide a predetermined mass flow and / or pressure, and / or how quickly one or more of the 2 / 2-way valves can place their respective valve element 48 in a predetermined position.

[0064] The at least one prescribed parameter expediently describes a regulation for the positioning of the adjusting element 3, for example a trajectory requirement for the adjusting element 3, in particular trajectory dynamics. Exemplarily, prescribed values ​​for speed and / or acceleration and / or impact and / or positioning duration are defined by the prescribed parameter, which should be followed when positioning the adjusting element. The at least one prescribed parameter comprises, for example, an upper limit value and / or a lower limit value, in particular a speed and / or acceleration limit value and / or an impact limit value. The prescribed parameter can also exemplarily define a minimum and / or maximum duration for which the positioning of the adjusting element 3 is to be carried out.

[0065] The pressure fluid supply device 4, in particular the position regulator, is preferably configured to calculate one or more regulator parameters, such as regulator gains, for position regulation based on system parameters and / or prescribed parameters and use these regulator parameters during position regulation. Preferably, the pressure fluid supply device 4, in particular the position regulator, is preferably configured to perform regulator design based on system parameters and / or prescribed parameters in order to calculate regulator parameters, in particular regulator gains, for position regulation. Preferably, the pressure fluid supply device 4 is configured to perform automatic parameterization of position regulation based on system parameters and / or prescribed parameters.

[0066] The position control is therefore adapted to a specific application and / or fluid actuator 2 and / or valve device 21 by means of system parameters and / or setpoint parameters.

[0067] The system 100 preferably has a user interface for manually inputting the at least one system parameter and / or the at least one specified parameter. Preferably, the input is carried out directly at the place of use of the system 100, exemplarily during commissioning of the system 100. Preferably, the position controller and / or the auxiliary program are provided in an application program, and the system parameters and / or the specified parameters are input by means of or in the application program. Exemplarily, the user device 49 mentioned above is used as the user interface.

[0068] System parameters and / or predefined parameters are therefore in particular parameters which are input by a user, for example via the user device 49. Such parameters which are input by a user are also to be referred to as user parameters.

[0069] The pressure fluid supply device 4 is preferably designed to automatically trigger the auxiliary program, for example in a commissioning mode and / or in a normal operating mode of the pressure fluid supply device 4. Alternatively or in addition thereto, a user interface of the system 100, for example a user device 49, includes a function for manually (i.e. selectively caused by explicit user input) triggering the auxiliary program.

[0070] The pressure fluid supply device 4 is particularly designed to execute the auxiliary program during commissioning of the system 100 and / or during normal operation, i.e., during regular operation, for example, in the context of industrial processes and / or industrial production, to position the adjusting element 3. Preferably, the auxiliary program is implemented on the control unit 4, the control device 15, the external cloud server 16 and / or the user device 49, in particular as an application.

[0071] Within the scope of the auxiliary program, system parameters and / or setpoint parameters are determined and / or verified. This is done based on the movement of the adjusting element 3 and / or taking into account physical limits.

[0072] For example, the determination and / or verification based on the movement of the adjusting element 3 can be realized in the following way: sensor values, such as the measurement variable signals mentioned above, are recorded when the adjusting element 3 moves, and system parameters and / or prescribed parameters are determined and / or verified based on these sensor values ​​and / or the movement model of the adjusting element 3. Preferably, the movement model includes one or more motion equations, which define the relationship between the movement of the adjusting element 3 and / or the sensor values ​​and the at least one system parameter and / or prescribed parameter. Exemplarily, the pressure fluid supply device 4, in particular the auxiliary program, is configured to insert the sensor values ​​detected when the adjusting element 3 moves into the movement model and to solve the movement model appropriately according to the system parameters and / or prescribed parameters. Then, the solution is preferably used as the determined system parameters and / or prescribed parameters. Alternatively or in addition to this, the pressure fluid supply device 4, in particular the auxiliary program, can be configured to insert the system parameters and / or prescribed parameters (in particular input by the user) into the movement model and check whether the movement of the adjusting element 3 can be described thereby. Then, expediently, system parameters and / or prescribed parameters are verified based on this check.

[0073] Suitably, the sensor value of the measured variable signal is used as the sensor value for the determination and / or verification. The determination and / or verification is based in particular on the measured values ​​of the position sensor device 10, the pressure sensor device 29, in particular the pressure sensors 43, 44, 45, 46 and / or the travel sensor 47.

[0074] Advantageously, in a learning mode, for example in a commissioning mode, a movement of the control element 3 is caused which is used to determine and / or verify system parameters and / or predefined parameters as a learning operation. Alternatively or in addition thereto, preferably in normal operation the movement of the control element 3 can also be used as a movement for determining and / or verifying system parameters and / or predefined parameters; i.e. in particular the following movement can be used as a movement for determining and / or verifying system parameters and / or predefined parameters, which movement is carried out by the control element 3 as an auxiliary program (which is already the case anyway) within the scope of an industrial process and / or for other purposes.

[0075] In the following, a specific example is explained in which system parameters and / or setpoint parameters are determined and / or verified within the scope of an auxiliary program based on a movement of the adjusting element 3 and / or consideration of physical limits.

[0076] In a first example, the auxiliary program is constructed to automatically determine the friction that occurs when positioning the fluid actuator 2 as a system parameter. This determination is particularly carried out during commissioning and is preferably based on a learning operation of the adjustment element 3. Exemplarily, the user triggers the auxiliary program. The auxiliary program then causes the adjustment element 3 to perform a learning operation. During the learning operation, sensor values ​​are recorded. Then, based on the recorded sensor values ​​and the motion model, a friction parameter is calculated as a system parameter. Optionally, the auxiliary program outputs the following notification to the user: the determination of the system parameter was successful. Then, the pressure fluid supply device 4 suitably adapts the position regulation based on the calculated system parameter.

[0077] When determining the system parameters, the friction of the actuator 2, which is designed as a drive cylinder in particular by way of example, is verified by a learning run. For determining the system parameters, in particular a parameter optimization (e.g. a recursive least squares method) is performed, in particular with respect to the equations of motion, preferably the dynamic equations, of the drive cylinder.

[0078] In this way, the commissioning of the system 100 can be simplified. Preferably, the user is therefore not required to determine the system parameters (which is complex). In particular, the number of parameters to be input by the user can be reduced, if the performance is preferably unchanged or improved.

[0079] In a second example, the auxiliary program is designed to verify the mass put into motion when positioning the fluid actuator 2 as a system parameter. This verification is carried out in particular during commissioning and expediently based on a learning operation of the adjusting element 3. Exemplarily, the user triggers the auxiliary program. The auxiliary program then causes the adjusting element 3 to perform a learning operation. During the learning operation, the sensor values ​​are recorded. Then, based on the recorded sensor values ​​and the motion model, the quality parameters previously input by the user are verified as system parameters. Optionally, the auxiliary program outputs the following notification to the user: the quality parameters input by the user can be verified (or cannot be verified). Alternatively or in addition to this, the auxiliary program is designed to determine and / or correct the system parameters when the verification itself fails.

[0080] The auxiliary program is designed in particular to verify the system parameters input by the user by means of a learning run, in particular to carry out a plausibility check on the system parameters or to also determine, for example to verify, the system parameters, which include the mass of the drive cylinder, for example the adjustment element 3. For determining the system parameters, in particular a parameter optimization (for example a recursive least squares method) is carried out, in particular with regard to the equations of motion, preferably the dynamic equations, of the drive cylinder.

[0081] In this way, the user input can be checked for plausibility, which is particularly advantageous for the quality of the input, since the quality of the input is often a critical variable for automatic parameterization, ie, application-specific adaptation of, for example, position control.

[0082] In a third example, the auxiliary program is designed to verify system parameters and / or predefined parameters (also referred to as “user parameters”) input by the user taking into account physical limits. This verification is preferably not based on a movement of the adjusting element 3 , in particular not on recorded sensor values.

[0083] Exemplarily, the user enters system parameters and / or prescribed parameters for position control and triggers the auxiliary program. Alternatively, the auxiliary program can also be triggered automatically when the system parameters and / or prescribed parameters are entered. The auxiliary program then checks whether the system parameters and / or prescribed parameters are physically possible, taking into account physical limits, in particular by applying physical equations.

[0084] These physical limits are particularly the physical limits of system 100 .

[0085] For example, it is checked whether it is physically possible to position the valve device 21, in particular the pneumatic specifications of the valve device 21, and / or the actuator 2, taking into account the system parameters and / or the specified parameters. For example, it is checked whether the mass input as a system parameter can be moved by means of the fluid actuator 2; and / or whether the speed specification and / or time specification input as specified parameters can be met by the valve device 21. Optionally, the auxiliary program outputs the following notification to the user: the system parameters and / or specified parameters input by the user can be verified (or cannot be verified). Alternatively or in addition to this, the auxiliary program is designed to determine and / or correct the system parameters if the verification itself fails.

[0086] By way of example, the assistance program is also designed to provide the user with suggested values ​​for system parameters and / or specified parameters based on the movement of the adjusting element 3 and / or taking into account physical limits.

[0087] In this way, system parameters (especially those concerning the drive, mass and / or valve arrangement) and / or trajectory requirements defined by the specified parameters can be checked for plausibility by applying physical equations. In this case, in particular dynamic limits (which result, for example, from aerodynamics and / or control quantity limits) are calculated and / or communicated to the user. In this way, support can be provided for a plausible basic parameterization.

[0088] In a fourth example, the auxiliary program is designed to determine the dynamic behavior of the valve device 21 , in particular in normal operating mode, as a system parameter and to determine the wear state of the valve device 21 based on the system parameter.

[0089] Exemplarily, the auxiliary program is automatically run in the normal operation mode and / or is manually triggered by the user. During the movement of the adjusting element 3, the auxiliary program records the sensor values. Then, the auxiliary program determines the dynamic characteristics of the valve device 21 as system parameters based on the recorded sensor values ​​and the motion model. The auxiliary program also determines the wear state of the valve device 21 based on the system parameters.

[0090] Optionally, the assistance program outputs information about the determined system parameters and / or the wear state to a user.

[0091] In this way, in particular a predictive maintenance function can be implemented. Advantageously, the valve dynamics are monitored during continuous operation, ie in normal operating mode. In this case, in particular no special (interfering) settings are caused (for monitoring purposes).

[0092] In particular, the dynamic behavior is determined by applying parameter optimization (e.g., recursive least squares method) to the dynamic equations of the valve device 21. The auxiliary program expediently performs this. In this way, it is in particular possible to achieve early detection of aging and / or defects which may affect the valve dynamics (bandwidth and / or damping) so that a reliable function of the valve device 21 is no longer possible for the application. The auxiliary program is expediently designed to output a corresponding message to the user about the wear state, in particular aging and / or defects.

[0093] In a fifth example, the determination of the wear state is performed based on friction determined as a system parameter (alternatively to or in addition to the determination based on the dynamic characteristics of the valve device 21 explained above).

[0094] The auxiliary program monitors in particular the friction of the fluid actuator 2 during continuous operation, ie in normal operation. In this case, in particular no special (interfering) control quantities are caused (for monitoring purposes).

[0095] Suitably, the friction is determined by applying a parameter optimization (eg a recursive least squares method) to the dynamic equations of the fluid actuator 2 as a system parameter.

[0096] In this way, aging and / or defects can be detected early, which may affect the properties of the fluid actuator 2 (especially the friction), so that for this application there is no longer a reliable function of the fluid actuator 2. The auxiliary program is preferably designed to output a corresponding report to the user about the wear state, especially aging and / or defects.

Claims

1. A system (100) for adjusting the position of an adjusting element (3), comprising: A fluid actuator (2) which can be loaded with pressure fluid and has the adjusting element (3); a pressure fluid supply device (4) which is configured to carry out position adjustment of the adjusting element (3) and to supply the fluid actuator (2) with the pressure fluid within the scope of the position adjustment so as to move the adjusting element (3) to a predetermined position; The pressure fluid supply device (4) is designed to perform the position control taking into account at least one system parameter describing a physical property of the system and / or at least one prescribed parameter defining a regulation for the positioning of the adjusting element (3). The pressure fluid supply device (4) is further configured to: implement an auxiliary program; and within the scope of the auxiliary program, determine and / or verify the at least one system parameter and / or the at least one specified parameter based on the movement of the adjustment element (3) and / or consideration of physical limits, wherein the at least one prescribed parameter comprises at least one of a velocity limit value, an acceleration limit value, and a shock limit value, and The at least one system parameter describes at least one of the friction occurring when positioning the fluid actuator (2), the mass put into motion when positioning the adjustment element (3), and the dynamic characteristics of the valve device (21) of the pressure fluid supply device (4).

2. A system (100) according to claim 1, wherein the pressure fluid providing device (4) is constructed to adopt a learning mode and to cause a learning operation of the adjusting element (3) by loading the adjusting element (3) with pressure fluid in the learning mode so as to provide a movement of the adjusting element (3) for the auxiliary program.

3. A system (100) according to claim 1 or 2, wherein the pressure fluid supply device (4) is constructed to: adopt a normal operating mode, in which the pressure fluid supply device (4) performs the position adjustment according to a predetermined rated value signal; and within the scope of the position adjustment, provide movement of the adjustment element (3) for the auxiliary program in the normal operating mode.

4. A system (100) according to claim 1 or 2, wherein the at least one system parameter and / or the at least one specified parameter is a user parameter input by a user, and the system is configured to verify the user parameter within the scope of the auxiliary program based on the movement of the adjusting element (3) and / or consideration of the physical limits.

5. A system (100) according to claim 1 or 2, wherein the pressure fluid supply device (4) is constructed to: determine at least one system parameter within the scope of the auxiliary program; and determine the wear state of the pressure fluid supply device (4) and / or the fluid actuator (2) based on the determined system parameter.

6. A system (100) according to claim 1 or 2, wherein the at least one system parameter and / or the at least one prescribed parameter is a user parameter to be input by a user, and the system is configured to provide the user with recommended values ​​for the user parameter to be input within the scope of the auxiliary program based on the movement of the adjusting element (3) and / or taking into account the physical limits.

7. A method for operating a system according to one of the preceding claims, comprising the step of executing the auxiliary program.

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