Method for carrying out moving movement and pneumatic system

Abstract

The invention relates to a method for carrying out a movement movement of a drive element (12) of a pneumatic drive unit (3), comprising the following steps: carrying out a pressure regulation of a first pressure chamber (22a) of the pneumatic drive unit (3) by means of a first valve unit (19a) of a valve device (2) in order to cause a movement movement along a movement path (28), a throttling function for compressed air escaping from a second pressure chamber (22b) of the pneumatic drive unit (3) during the moving movement is provided by means of a second valve unit (19b) of the valve device (2) in order to influence the moving movement, and wherein the compressed air is throttled as a function of the position of the drive element (12) and / or of the time and / or of the trigger signal. A pressure target value (30) of the pressure control and a throttle opening of the throttle function are adapted during the displacement movement.

Description

Technical Field

[0001] The invention relates to a method for executing a displacement movement of a drive element of a pneumatic drive unit. Background Art

[0002] The pneumatic drive unit is, for example, a pneumatic drive cylinder, and the drive element is, for example, a piston. Conventionally, the displacement movement of the piston of the pneumatic drive cylinder is achieved by charging a first pressure chamber of the drive cylinder with the entire available supply pressure by means of a reversing valve and throttling the compressed air escaping from a second pressure chamber of the drive cylinder by means of an exhaust throttle valve located at the drive cylinder. The exhaust throttle valve serves to reduce the excess force on the drive side (i.e. originating from the first pressure chamber). With this conventional solution, a high resistance to interference of the drive device can be achieved; however, at the same time, the efficiency with regard to the compressed air consumption is reduced. Summary of the invention

[0003] The object of the present invention is to enable a displacement movement of a drive element to be carried out efficiently with respect to the compressed air consumed.

[0004] This object is achieved by a method according to claim 1. The method comprises the following steps: performing pressure regulation of a first pressure chamber of a pneumatic drive unit by means of a first valve unit of the valve device in order to bring about a displacement movement along a displacement path; providing a throttling function for compressed air escaping from a second pressure chamber of the pneumatic drive unit during the displacement movement by means of a second valve unit of the valve device in order to influence the displacement movement; and adapting a pressure target value of the pressure regulation and a throttling opening of the throttling function during the displacement movement as a function of a position of the drive element and / or time and / or a trigger signal.

[0005] By adapting both the pressure target value and the throttle opening during the movement, it can be achieved that the movement can be performed with low compressed air consumption and thus more efficiently. For example, the pressure target value can be reduced after the initial acceleration phase of the movement to avoid providing a high pressure in the first pressure chamber that is unnecessary for the movement after this initial acceleration phase. In addition, the throttle opening can be reduced, for example, near the end of the movement, so that the braking action required, in particular for the smooth movement into the end position, is only provided at this point in time. Since the throttle opening is reduced only near the end of the movement, the braking action is smaller before this, so that a smaller driving force and therefore a smaller pressure in the first pressure chamber are required for the movement.

[0006] According to a preferred design, the movement stroke is divided into a plurality of continuous movement stroke zones. Each movement stroke zone is provided with one or more zone parameters. The zone parameters include a pressure target value, a throttle opening value or a zone boundary value, which defines the beginning and / or end of the corresponding movement stroke zone. By selecting the zone parameters accordingly, the movement motion can be easily adapted to the application.

[0007] Advantageously, no position control is performed for the displacement movement. In particular, no position control of the drive element is performed during the displacement movement. In particular, pressure control is not implemented within the framework of the position control.

[0008] Advantageous developments are the subject matter of the dependent claims.

[0009] Furthermore, the invention relates to a pneumatic system comprising a valve device and a pneumatic drive unit. The pneumatic system is designed to carry out the method. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Further exemplary details and exemplary embodiments are described below with reference to the accompanying drawings.

[0011] Figure 1 shows a schematic diagram of the pneumatic system;

[0012] Figure 2 A schematic diagram of a valve arrangement is shown;

[0013] Figure 3 A schematic diagram of a pneumatic drive unit and two diagrams showing the adaptation of pressure target values ​​and throttle opening values ​​are shown;

[0014] Figure 4 An arrangement with a pneumatic system, a machine tool, a tool and a tool change flap is shown. DETAILED DESCRIPTION

[0015] Figure 1 An exemplary pneumatic system 1 is shown, which comprises a valve device 2 and a pneumatic drive unit 3. The valve device 2 is used to pneumatically actuate the pneumatic drive unit 3. The pneumatic system 1 is in particular an industrial pneumatic system. Preferably, the pneumatic system 1 is used in industrial automation.

[0016] Advantageously, the pneumatic system 1 comprises a compressed air source 4, a compressed air outlet 5, a position sensor device 6 and / or a hose assembly 11. The compressed air source 4 is pneumatically connected to the valve device 2 and advantageously provides the compressed air required for pneumatically actuating the pneumatic drive unit 3. The compressed air outlet 5 is pneumatically connected to the valve device 2. When the drive unit 3 is pneumatically actuated, the compressed air escaping from the pneumatic drive unit 3 is advantageously discharged through the valve device 2 into the compressed air outlet 5. The compressed air outlet 5 is, for example, the surroundings of the valve device 2.

[0017] The position sensor device 6 is arranged exemplarily at the pneumatic drive unit 3 and advantageously serves to detect the position of the drive element 12 of the pneumatic drive unit 3. The position sensor device 6 can be implemented as a partial stroke measuring system, which advantageously detects the position of the drive element 12 in a sensory manner only in the end position range of the drive unit 3. Between these end position ranges, the position of the drive element 12 can be calculated, for example, by the control device 10 and / or the control unit 15 of the pneumatic system 1, in particular using the detected pressure and / or valve control signal, for example by calculating the mass flow and / or taking into account the throttle opening. Advantageously, a position signal related to the position of the drive element 12 is provided based on the sensory detected position of the drive element 12 and / or the calculated position of the drive element 12. This position signal is provided, for example, by the control device 10 or by the control unit 15. In addition, the position sensor device 6 can be implemented as a full stroke measuring system, which in particular detects the position of the drive element 12 in a sensory manner along the entire displacement stroke 28, so that a position signal is provided based on the sensory detected position.

[0018] The pneumatic drive unit 3 and the valve device 2 are pneumatically connected via a hose assembly 11. The hose assembly 11 exemplarily includes a first hose and a second hose, the first hose is used to connect the first pressure chamber 22a of the drive unit 3 and the valve device 2, and the second hose is used to connect the second pressure chamber 22b of the drive unit 3 and the valve device 2.

[0019] The valve device 2 preferably comprises a valve assembly 7, which is exemplarily implemented as a valve island. The valve assembly 7 advantageously comprises a carrier section 8, which is exemplarily implemented in a plate-like manner, and a plurality of valve modules 9, which are exemplarily arranged side by side on the carrier section 8. According to an alternative design, the valve modules can be arranged in the carrier section 8. The valve assembly 7 has a plurality of working connections 13, which are exemplarily arranged at the carrier section 8. For better clarity, only two of the working connections are provided with the reference numeral "13" in the figure. Exemplarily, the drive unit 3 is connected to the two working connections 13. The valve device 2 can output compressed air to the drive unit 3 through the two working connections 13 and receive compressed air escaping from the drive unit 3.

[0020] Exemplarily, the valve assembly 7 has a control section 14, which is arranged in particular on the carrier section 8. The control section 14 advantageously has a control unit 15, which is implemented, for example, as a microprocessor. Exemplarily, the control section 14 is in communication connection with the position sensor device 6. The valve assembly 7 advantageously has a compressed air inlet 16 (in particular arranged on the carrier section 8), which is connected to the compressed air source 4, and / or a compressed air outlet 17 (in particular arranged on the carrier section 8), which is exemplary connected to the compressed air outlet 5.

[0021] Exemplarily, the valve device 2 includes a control device 10, which is advantageously connected to the valve assembly 7, in particular to the control unit 15. The control device 10 is, for example, a superior control device, in particular a programmable control device (SPS). Optionally, the control device 10 can be connected to the position sensor device 6.

[0022] The pneumatic drive unit 3 is exemplarily implemented as a pneumatic drive cylinder. The pneumatic drive unit 3 has a first pressure chamber 22a and a second pressure chamber 22b. The drive element 12 is exemplarily implemented as a piston assembly and comprises a piston 23 and a piston rod 24 preferably mounted at the piston 23. Exemplarily, the piston 23 separates the first pressure chamber 22a from the second pressure chamber 22b. By venting the first pressure chamber 22a and exhausting the second pressure chamber 22b by means of the valve device 2, the drive element 12 can be placed in a movement movement exemplarily in the first movement direction 25.

[0023] Figure 2An exemplary design of a valve device 18 is shown. Advantageously, the valve device 2 is provided with at least one such valve device 18. Exemplarily, each valve module in the valve modules 9 comprises a corresponding valve device 18. The valve device 18 comprises two valve units 19, more precisely a first valve unit 19a and a second valve unit 19b. Each valve unit 19 is connected to a corresponding working connection 13 and is advantageously used to pneumatically connect the corresponding working connection 13 optionally to the compressed air source 4 or the compressed air outlet 5, or to optionally block the corresponding working connection 13. In addition, each valve unit 19 advantageously has a throttling function in order to throttle the compressed air flow generated by the corresponding valve unit 19.

[0024] Exemplarily, the valve device 18 is implemented as a pneumatic full bridge. The valve unit 19 advantageously forms a corresponding pneumatic half bridge. Exemplarily, the valve device 18 has four valves 20, in particular four 2 / 2-way valves, and / or each valve unit 19 has two valves 20, in particular two 2 / 2-way valves. The valve 20 is implemented in particular as a piezoelectric valve. Exemplarily, each valve unit 19 has a corresponding inlet valve 20a and / or a corresponding exhaust valve 20b, the inlet valve is connected between the corresponding assigned working connection 13 and the compressed air source 4, and the exhaust valve is connected between the corresponding assigned working connection 13 and the compressed air outlet 5.

[0025] Alternatively, the valve device can also be designed differently, in particular not as a full bridge. The valve device (as two valve units) can, for example, include corresponding 3 / 2-way valves or 3 / 3-way valves. Preferably, the valve device has a decomposed The control edge has, in particular, two working connections which can be ventilated and exhausted independently of one another.

[0026] Preferably, the pneumatic system 1, in particular the valve device 2, is provided with a pressure sensor device 21 for detecting the compressed air pressure of the first pressure chamber 22a and / or the second pressure chamber 22b. The pressure sensor device 21 can be, for example, part of the valve assembly 7 and can be arranged in particular in the carrier section 8. In particular, the pressure sensor device 21 is used to detect the compressed air pressure at the working connection 13.

[0027] The pneumatic system 1 is designed to carry out the method described below for carrying out a displacement movement of a drive element 12. The displacement movement is carried out in particular in a first displacement direction 25. Preferably, the displacement movement is carried out from a first end position of the drive element 12 to a second end position of the drive element 12. An end position is to be understood as a position of the drive element 12 in which the drive element 12 cannot be moved further. In the second end position, the drive element 12 cannot be moved further in the first displacement direction 25. In the first end position, the drive element 12 cannot be moved further in a direction opposite to the first displacement direction 25.

[0028] The steps of the method explained below can in particular be carried out simultaneously with one another. Advantageously, all data processing carried out within the scope of the method, ie in particular calculations and / or adjustments of values, is carried out by the control device 10 and / or the control unit 15 .

[0029] The method comprises the step of carrying out a pressure regulation of a first pressure chamber 22a of the pneumatic drive unit 3 by means of a first valve unit 19a of the valve device 2 in order to cause a displacement movement along a displacement path 28. Advantageously, the pressure regulation is carried out by the control device 10 or the control unit 15. The pressure regulation is carried out in particular by detecting an actual pressure value of the first pressure chamber 22a by means of a pressure sensor device 21 and comparing it (for example by the control unit 15 and / or the control device 10) with a pressure target value, and based on the comparison (for example by the control unit 15 and / or the control device 10) the first valve unit 19a is controlled so that the actual pressure value changes towards the pressure target value. The displacement path 28 is in particular the entire path from the first end position of the drive element 12 to the second end position of the drive element 12. Advantageously, the compressed air pressure in the first pressure chamber 22a is increased by the pressure regulation, so that a pneumatic force is exerted on the piston 23, which causes the drive element 12 to perform a displacement movement.

[0030] The method comprises the further step of providing a throttling function for the compressed air escaping from the second pressure chamber 22b of the pneumatic drive unit 3 during the displacement movement by means of the second valve unit 19b of the valve device 2. The throttling function is provided for influencing the displacement movement. During the displacement movement, the compressed air flows from the second pressure chamber 22b through the second valve unit 19b into the compressed air outlet 5, for example, the surroundings of the valve device 2. The compressed air escapes from the second pressure chamber 22b in particular for the following reasons: in particular, the second pressure chamber 22b is reduced due to the displacement movement of the drive element 12, and the compressed air pressure in the second pressure chamber 22b is higher than the surrounding pressure. The throttling function can be used to set the throttling opening, that is, in particular the size of the flow cross section, on the pneumatic path of the compressed air escaping from the second pressure chamber 22b, so as to set the extent to which the flow of the compressed air is throttled. For example, the throttling opening can be set by positioning the valve mechanism of the exhaust valve 20b.

[0031] Furthermore, the method comprises the following steps: Depending on the position of the drive element and / or the time and / or the trigger signal, for example, the pressure target value of the pressure regulation and the throttle opening of the throttle function are adapted during the displacement movement by the control unit 15 and / or by the control device 10. Then, based on the adapted pressure target value, a further pressure regulation (performed for the displacement movement) is performed, and then based on the adapted throttle opening, a further throttle function (performed for the displacement movement) is performed. For example, the throttle opening to be used is preset by means of the throttle opening value, in particular by the control device 10 and / or the control unit 15.

[0032] refer to Figure 3 How the pressure target value and the throttle opening can be adapted by way of example will be discussed in more detail below.

[0033] Figure 3 The drive unit 3 , a first diagram 26 showing the adaptation of the pressure target value, and a second diagram 27 showing the adaptation of the throttle opening are shown.

[0034] Preferably, the movement path 28 is divided into a plurality of continuous movement path areas 29. Figure 3 In FIG. 3 , the division is shown by vertical dashed lines, which are intended to represent zone boundaries 36 .

[0035] Exemplarily, the movement path 28 is divided into three, in particular only three, consecutive movement path regions 29: a first movement path region 29a, a second movement path region 29b and a third movement path region 29c. Exemplarily, during the movement movement, the drive element 12 first moves through the first movement path region 29a, then through the second movement path region 29b and then through the third movement path region 29c in the movement direction 25. Advantageously, the division of the movement path 28 is defined in the control device 10 and / or the control unit 15.

[0036] Alternatively, the movement path 28 can also be divided into only two movement path regions 29 or into more than three movement path regions.

[0037] Advantageously, the division of the moving travel zone 29 is defined by zone boundaries 36. Advantageously, the zone boundaries 36 are stored by corresponding zone boundary values, for example in the control device 10 and / or the control unit 15. Advantageously, the zone boundaries 36 are defined as positions along the moving travel 28; for example, each zone boundary 36 is stored as a corresponding position value. In addition, the zone boundaries 36 can be defined in time and correspondingly stored as time values. The time value is related to a duration starting from the start of the moving movement, for example. In addition, the zone boundaries 36 can be defined based on events. For example, one or more zone boundaries 36 are determined based on a trigger signal, in particular, so that for the moving travel zone 29 in which the drive element 12 is currently located, a zone boundary 36 is delimited as a response to the presence of a trigger signal, which zone boundary defines the end of the moving travel zone 29.

[0038] Preferably, the pressure target value is adapted in response to the drive element 12 moving from one of the moving ranges 29 to the immediately following moving range 29 during the displacement movement. Advantageously, the throttle opening is adapted in response to the drive element 12 moving from one of the moving ranges 29 to the immediately following moving range 29 during the displacement movement. For example, the control device 10 and / or the control unit 15 detects (in particular based on the position signal, i.e. preferably based on the position of the drive element 12 detected and / or calculated by the position sensor device 6) that the drive element 12 has moved from the moving range 29 to the next moving range 29 and in response thereto, the pressure target value and / or the throttle opening value is adapted.

[0039] As mentioned above, a measuring system for the complete travel 28 or a partial travel measuring system (for example in the end positions) can be used for the position signal. Preferably, the position signal can be provided based on an estimated position. For example, the position is estimated based on a pressure signal and a valve position or volume flow signal. For example, the position is estimated for the middle area between the end positions of the travel 28 and the position is detected in a sensory manner in the end positions. Advantageously, the position of the drive element 12 is not continuously fed back. For example, the position is detected only at a single point along the travel 28 in order to determine the transition from a travel range 29 to the next travel range 29 based on this. At the end positions, the position of the drive element 12 can be detected, for example, by means of an end position switch.

[0040] Preferably, each movement travel zone 29 is provided with one or more zone parameters. The zone parameters include, for example, a pressure target value 30 and / or a throttle opening value 31. Optionally, the zone parameters include zone boundary values, which define the beginning and / or end of the corresponding movement travel zone 29. Each zone boundary value defines, for example, a position of the drive element 12 at which the corresponding movement travel zone begins and / or a position of the drive element 12 at which the corresponding movement travel zone ends. In addition, each zone boundary value can define a time value.

[0041] Preferably, each displacement range 29 is provided with a corresponding pressure target value 30 for pressure regulation and a corresponding throttle opening value 31 for throttle opening. The pressure target value 30 and the throttle opening value 31 are provided at Figure 3 Exemplarily, the first movement range 29a is provided with a first pressure target value 30a and a first throttle opening value 31a, the second movement range 29b is provided with a second pressure target value 30b and a second throttle opening value 31b, and the third movement range 29c is provided with a third pressure target value 30c and a third throttle opening value 31c.

[0042] Advantageously, pressure regulation is performed in each displacement range 29 based on a correspondingly assigned pressure target value 30. Advantageously, a throttling function is provided in each displacement range 29 according to a correspondingly assigned throttle opening value 31. Preferably, at least two of the pressure target values ​​30 are different from each other, and / or at least two of the throttle opening values ​​31 are different from each other.

[0043] Preferably, the pressure target value 30 is reduced in response to the drive element 12 leaving the movement travel zone 29 in the front area of ​​the movement travel 28. For example, the pressure target value 30 is reduced in response to the drive element leaving the first movement travel zone 29a in the movement direction 25 of the movement movement. The expression "first movement travel zone 29a in the movement direction 25 of the movement movement" refers to the movement travel zone that is first passed through in the movement direction during the movement movement. Advantageously, the second pressure target value 30b is smaller than the first pressure target value 30a. In particular, this reduction of the pressure target value 30 is achieved after an initial acceleration phase of the movement movement in order to avoid providing a high pressure in the first pressure chamber 22a that is unnecessary for the movement movement after this initial acceleration phase.

[0044] Preferably, the throttle opening remains constant when transitioning from the first movement range 29a to the second movement range 29b in the movement direction 25 of the movement movement. Exemplarily, the second throttle opening value 31b is equal to the first throttle opening value 31a.

[0045] Preferably, the throttle opening is reduced in response to the drive element entering the movement range 29 in the rear region of the movement range. For example, the throttle opening is reduced in response to the drive element 12 entering the third movement range 29c in the movement direction 25 of the movement movement. Advantageously, the third throttle opening value 31c is smaller than the second throttle opening value 31b. A braking effect can be achieved by reducing the throttle opening.

[0046] Preferably, the pressure target value 30 remains constant during the transition from the second displacement range 29 b to the third displacement range 29 c in the displacement direction 25 of the displacement movement.

[0047] Optionally, the zone parameter can include a blocking state parameter, for example a blocking state flag. The blocking state parameter advantageously indicates the blocking state of the first pressure chamber 22a for the corresponding movement travel zone. In the blocking state, the first pressure chamber 22a is blocked by means of the first valve unit 19a, so that compressed air cannot be supplied to the first pressure chamber 22a or discharged from the first pressure chamber. Advantageously, if the blocking state parameter is set for the movement travel zone 29, the pressure regulation is interrupted for the movement travel zone 29 and the first pressure chamber 22a is closed when the drive element 12 is located in the movement travel zone 29. For example, the blocking state parameter is set for the second movement travel zone 29b and / or the third movement travel zone 29c.

[0048] Optionally, after the movement is completed, i.e., in particular when the drive element 12 is in the second end position, the pressure in the first pressure chamber 22a and / or the second pressure chamber 22b is regulated in such a way that a force pointing in the direction of the second end position is generated, which advantageously holds the drive element 12 in the second end position.

[0049] How zone parameters can be determined shall be discussed in more detail below.

[0050] Optionally, the zone parameters can be input by a user, for example by means of a user device and / or an input device of the valve device 2 .

[0051] The zone parameters can be obtained, for example, based on simulations and / or by an optimization procedure. Alternatively, the zone parameters can be obtained by means of machine learning.

[0052] Preferably, one or more of the zone parameters are adapted based on a position signal related to the position of the drive element 12. The adaptation is preferably performed automatically, in particular by the control device 10 and / or the control unit 15. The adaptation is performed, for example, based on a comparison of a recorded trajectory (i.e. a travel-time diagram) of the drive element 12 with a target trajectory. Advantageously, the adaptation is performed in a model-supported manner, in particular by means of an adaptation routine.

[0053] Preferably, the travel characteristics are detected, in particular based on the position signal. The travel characteristics include, for example, vibrations of the drive element, rebound of the drive element, the duration of the movement of the movement and / or premature stopping of the drive element 12. The rebound of the drive element 12 means, for example, that the drive element 12 moves into the second end position at an excessively high speed and thus rebounds, i.e. moves out of the second end position in the opposite direction to the movement 25. Premature stopping means, for example, that the drive element 12 stops during the movement before it reaches the second end position. Preferably, one or more of the zone parameters are adapted based on the travel characteristics, in particular in this way, to avoid or reduce undesirable travel characteristics.

[0054] Preferably, one or more of the zone parameters are adapted by means of an optimization algorithm to optimize the quality criterion. The optimization of the quality criterion comprises, for example, minimizing a trajectory error of the drive element 12 and / or minimizing a final value error of the drive element 12. The final value error comprises, in particular, a movement duration error, an end position speed error and / or an end position pressure error.

[0055] The trajectory error is, for example, a deviation of the recorded trajectory from a target trajectory of the drive element 12. For example, the trajectory error is calculated as the sum of the squared deviations of the recorded trajectory from the target trajectory.

[0056] The movement duration error is, in particular, a deviation of a detected movement duration required by the drive element 12 for the movement movement from a target movement duration.

[0057] The end position speed error is in particular a deviation of the detected end position speed from the target end position speed when the drive element 12 is moved into the second end position.

[0058] The end position pressure error is in particular a deviation of a detected end position pressure from a target end position pressure which is present in the first pressure chamber 22 a or in the second pressure chamber 22 b when the drive element 12 is in the second end position.

[0059] Preferably, the optimization algorithm is model-based and / or uses machine learning, such as reinforcement learning.

[0060] Preferably, the zone parameters are adapted after the movement has ended. For example, a final value error is determined after the movement has ended, and the zone parameters are adapted based on the final value error in order to reduce the final value error in the next movement. The next movement is performed using the adapted zone parameters.

[0061] Optionally, one or more of the zone parameters are adapted during the movement. Preferably, after the adaptation, a pressure regulation and / or throttling function for the movement is performed as a function of the one or more adapted zone parameters. In this way, disturbances can be compensated directly during the movement. Preferably, a model predictive control (MPC) is used for this purpose. Alternatively, a reinforcement learning approach can be used.

[0062] refer to Figure 4 The following arrangement 35 will be discussed, which represents an exemplary application environment for the pneumatic system 1 . The arrangement 35 comprises the pneumatic system 1 , a machine tool 33 , a tool 34 for the machine tool and a tool change flap 32 .

[0063] The drive element 12 serves to actuate the tool change flap 32. In particular, the tool change flap can be moved from a first position, for example a closed position, into a second position, for example an open position, by means of a displacement movement of the drive element 12. In the closed position, the tool change flap 32 separates the tool 34 from the machine tool 33, in particular in order to prevent the tool 34 from becoming dirty during machining processes performed with the machine tool 33. In the open position, the tool change flap 32 releases access to the tool 34, so that (in particular for the purpose of changing the tool) one of the tools 34 can be transported to the machine tool 33, for example using a tool handling device (not shown), for example a robot arm.

[0064] The above-described adaptation of the pressure target value 30 and the throttle opening makes it possible to rapidly open and / or close the tool change flap 32 with minimal consumption of compressed air.

Claims

1. A method for performing a displacement movement of a drive element (12) of a pneumatic drive unit (3), the method comprising the following steps: - by means of a first valve unit (19a) of the valve device (2), carrying out a pressure regulation of a first pressure chamber (22a) of the pneumatic drive unit (3) in order to bring about a displacement movement along a displacement path (28), - providing a throttling function for the compressed air escaping from the second pressure chamber (22b) of the pneumatic drive unit (3) during the displacement movement by means of the second valve unit (19b) of the valve device (2) in order to influence the displacement movement, and - adapting the pressure target value (30) of the pressure regulation and the throttle opening of the throttle function during the displacement movement as a function of the position of the drive element (12) and / or the time and / or the trigger signal.

2. The method according to claim 1, wherein: The movement stroke (28) is divided into a plurality of consecutive movement stroke zones (29), wherein the pressure target value (30) is adapted in response to the drive element (12) moving from one of the movement stroke zones (29) to an immediately following movement stroke zone (29) during a movement motion, and wherein the throttle opening is adapted in response to the drive element (12) moving from one of the movement stroke zones (29) to an immediately following movement stroke zone (29) during a movement motion.

3. The method according to claim 2, wherein: Each displacement range (29) is provided with a corresponding pressure target value (30) for the pressure regulation and a corresponding throttle opening value (31) for the throttle opening, wherein the pressure regulation is performed in each displacement range (29) based on the corresponding assigned target value (30), and the throttling function is provided in each displacement range according to the corresponding assigned throttle opening value (31), wherein at least two of the pressure target values ​​(30) are different from each other, and / or wherein at least two of the throttle opening values ​​(31) are different from each other.

4. The method according to claim 2 or 3, wherein: In response to the drive element (12) leaving a displacement range (29) in a front region of the displacement range (28), the pressure target value (30) is reduced.

5. The method according to any one of claims 2 to 4, wherein: In response to the drive element (12) entering a displacement range (29) in a rear region of the displacement range (28), the throttle opening is reduced.

6. The method according to any one of claims 2 to 5, wherein: The movement path (28) is divided into three consecutive movement path areas (29).

7. The method according to claim 6, wherein: In response to the drive element (12) leaving a first displacement range (29a) in the direction of the displacement movement, the pressure target value (30) is reduced.

8. The method according to claim 6 or 7, wherein: In response to the drive element (12) entering a third displacement range (29c) along the displacement direction (25) of the displacement movement, the throttle opening is reduced.

9. The method according to any one of claims 6 to 8, wherein: When transitioning from a second movement range (29b) along the movement direction (25) of the movement movement to a third movement range (29c), the pressure target value (30) remains constant, and / or when transitioning from a first movement range (29a) along the movement direction (25) of the movement movement to a second movement range (29b), the throttle opening remains constant.

10. The method according to any one of claims 2 to 9, wherein: Each displacement range (29) is assigned one or more range parameters, wherein the range parameters include a pressure target value (30), a throttle opening value (31) or a range boundary value, which defines the beginning and / or end of the corresponding displacement range (29).

11. The method according to claim 10, wherein: One or more of the zone parameters are adapted based on a position signal related to the position of the drive element (12).

12. The method according to claim 10 or 11, wherein: During the displacement movement, one or more of the zone parameters are adapted, and after the adaptation, a pressure control and / or throttling function for the displacement movement is performed as a function of the one or more adapted zone parameters.

13. The method according to any one of claims 10 to 12, wherein: At least one movement stroke characteristic is detected, which includes a vibration of the drive element (12), a rebound of the drive element (12), a movement duration of the movement and / or an early stop of the drive element (12), and one or more of the zone parameters are adapted based on the movement stroke characteristic.

14. The method according to any one of claims 10 to 13, wherein: One or more of the zone parameters are adapted by means of an optimization algorithm in order to optimize the quality criterion.

15. The method according to claim 14, wherein: Optimization of the quality criterion includes minimizing a trajectory error of the drive element (12) and / or minimizing a final value error of the drive element (12), wherein the final value error includes a movement duration error, an end position speed error and / or an end position pressure error.

16. A method according to any one of the preceding claims, wherein: The drive element (12) is used to actuate a tool change flap (32) which separates a machine tool (33) from one or more tools (34) for the machine tool (33).

17. A pneumatic system (1) comprising a valve device (2) and a pneumatic drive unit (3), wherein: The pneumatic system (1) is designed to carry out the method according to any one of claims 1 to 14.

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