Method for adjusting a travel time and pneumatic system

Abstract

The invention relates to a method for adjusting the travel time of a drive element (330) of a pneumatic drive unit (300), comprising the steps (a) first pneumatic actuation of the pneumatic drive unit (300) to effect a first travel movement of the drive element (330), (b) detection of a first travel time required for the first travel movement, (c) adjustment of a friction parameter based on the detected first travel time, wherein the friction parameter relates to friction occurring in the pneumatic drive unit (300), (d) performing position control or position regulation of the drive element (330) to effect a second travel movement of the drive element (330), wherein, within the framework of the position control or position regulation, a second pneumatic actuation of the pneumatic drive unit (300) takes place, taking into account the adjusted friction parameter.so that, due to the adjusted friction parameter for the second movement, a second movement duration adapted to the first movement duration is required.

Description

[0001] The invention relates to a method for adjusting a travel time and a pneumatic system.

[0002] In the method, in particular, a position control or position regulation of a drive element of a pneumatic drive unit of the pneumatic system is carried out in order to effect a travel movement of the drive element. In applications with multiple drive elements, for example for positioning a flat object, for example a glass element, it may be desirable for the travel movements of the multiple drive elements to each take place with the same travel time, in particular such that the drive elements arrive at the flat object at the same time. However, the travel times of the individual drive elements can be subject to fluctuations, e.g. due to a variance in the friction values ​​in the pneumatic systems, so that simultaneous reaching of the desired end positions of the individual drive elements cannot be reliably guaranteed.In addition, the friction values ​​of the individual pneumatic systems can be subject to changes due to service life, which means that the travel times can also change with increasing operating time.

[0003] DE 10 2015 110 824 A1 discloses a detection unit that detects a first output signal and a second output signal output by a first sensor and a second sensor arranged on an actuator, and outputs a first detection signal and a second detection signal to a measuring unit. Based on the first detection signal and the second detection signal, the measuring unit measures a cycle time required for a piston to move from one end to the other end of a displacement range.

[0004] DE 10 2010 063 513 B4 discloses a method for controlling a pneumatic actuating means for actuating a pneumatically actuated device, wherein the actuating means comprises a piston and a pneumatic cylinder, wherein the piston is arranged to be axially displaceable in the pneumatic cylinder, wherein the piston is displaced as a function of a pressure in a pressure chamber of the pneumatic cylinder, and wherein the pressure in the pressure chamber is adjusted via a control device which controls at least one valve and / or a pressure regulating means and / or a pressure generating device, wherein a pilot control component for the control is determined as a function of at least one sliding friction force and / or at least one static friction force of the pneumatic actuating means.

[0005] DE 202 18 487 U1 discloses a sensor that continuously detects the position of a piston and sends an actual position signal to an input of an electronic controller. The actual position signal is compared with an externally adjustable target position. Upon reaching this position, a series of opposing, width-modulated pulses is emitted, causing final damping. The damping force is controlled by a control unit via the pulse width. The stored value for controlling this damping force can be varied externally.

[0006] It is an object of the present invention to provide a method which enables a controlled movement of a drive element of a pneumatic drive unit.

[0007] The task is solved by a method with the following features: The method according to the invention for adjusting a travel duration of a drive element of a pneumatic drive unit comprises the steps: (a) first pneumatic actuation of the pneumatic drive unit in order to effect a first travel movement of the drive element, (b) detecting a first travel duration required for the first travel movement, (c) adjusting a friction parameter based on the detected first travel duration, wherein the friction parameter relates to a friction occurring in the pneumatic drive unit, (d) carrying out a position regulation or a position control of the drive element in order to effect a second travel movement of the drive element, wherein, within the scope of the position regulation or the position control, a second pneumatic actuation of the pneumatic drive unit takes place taking into account the adjusted friction parameter,so that due to the adjusted friction parameter for the second travel movement, a second travel duration adjusted to the first travel duration is required.

[0008] When the drive element moves, friction occurs in the pneumatic drive unit. Friction counteracts pneumatic actuation in particular. Friction influences the travel time of the travel movement. Greater friction results in a longer travel time. Lower friction results in a shorter travel time. Friction can vary in intensity between different pneumatic drive units. Furthermore, friction can change over time. According to the inventive approach, the existing friction in the drive unit can be deduced from the recorded first travel time, and the friction parameter can be adjusted according to the first travel time (and thus according to the existing friction).The adjusted friction parameter is then taken into account in the position control or the position control for the second travel movement, for example in such a way that with a higher friction parameter a pressure chamber of the drive unit is subjected to a higher pressure and / or with a lower friction parameter the pressure chamber is subjected to a lower pressure.

[0009] For example, by taking the adjusted friction parameter into account during position control or position regulation, the influence of a change and / or variance in friction on the travel time can be reduced or compensated. This can preferably ensure that the travel movement takes place with a desired travel time. Consequently, a controlled travel movement can be achieved.

[0010] The term "pneumatic actuation" refers to the actuation of a pressure chamber within a pneumatic drive unit. The term "actuating" means supplying compressed air, and the term "actuating" means releasing compressed air. Actuating is preferably performed using a compressed air source, from which compressed air is fed into the pressure chamber. Actuating is preferably performed using a compressed air sink, such as the atmosphere, into which the compressed air is discharged from the pressure chamber.

[0011] During the first pneumatic actuation of the pneumatic drive unit, compressed air is expediently fed into a first pressure chamber of the pneumatic drive unit, whereby the drive element adjacent to the first pressure chamber performs the first displacement movement by expanding the volume present in the first pressure chamber. The pneumatic drive unit can be designed as a pneumatic cylinder having a cylinder body in which the first pressure chamber is arranged. The drive element comprises, for example, a drive piston that is arranged such that it can move in the cylinder body. The pneumatic drive unit is preferably double-acting. The pneumatic drive unit can, for example, have a second pressure chamber arranged opposite the first pressure chamber, wherein the drive element also borders the second pressure chamber.In this way, the drive element can be moved in two opposite directions – once by applying compressed air to the first pressure chamber in a first direction of travel, and once by applying compressed air to the second pressure chamber in a second direction of travel. Alternatively, the pneumatic drive unit can be designed as a single-acting unit.

[0012] The travel time is the time required for the drive element to move from a starting position to an end position. The travel time can be recorded, for example, using a time recording unit implemented on a microprocessor. The second travel time is adjusted, for example, in such a way that the difference between the first travel time and a target travel time is minimized.

[0013] Position control can, for example, be achieved using pressure control. Pressure control is preferably subordinate to position control. For example, as part of position control, a pressure curve is determined starting from a desired end position and / or a desired time-displacement curve. The time-displacement curve can, for example, be asymptotic. The speed of the drive element preferably decreases continuously with decreasing distance to the end position, so that, in particular, abrupt braking upon reaching the end position is prevented. In this context, "abrupt" means that the drive element experiences such a great braking acceleration that there is a risk that an object moved by the drive element will slip or be damaged.

[0014] Advantageous further training is the subject of the subclaims.

[0015] The task is further solved by a pneumatic system with the following features: The pneumatic system according to the invention comprises a valve arrangement and at least one pneumatic drive unit with a drive element that can be pneumatically actuated by means of the valve arrangement, wherein the pneumatic system is designed to carry out the method described above.

[0016] Further exemplary details and advantageous embodiments of the invention are illustrated in the drawing. Herein: Fig. 1 a schematic representation of a pneumatic system with a pneumatic drive unit, Fig. 2 a schematic representation of a pneumatic system with four pneumatic drive units and a glass element, Fig. 3 a block diagram of a position control, and Fig. 4 a flowchart of a method for adjusting a travel time, and

[0017] The Fig. 1 shows a pneumatic system 100 with a valve device 110 and a pneumatic drive unit 300. The valve device 110 serves to pneumatically actuate the pneumatic drive unit 300. By way of example, the valve device 110 comprises a valve assembly 200 and a control device 400.

[0018] The valve assembly 200 preferably comprises several, exemplary six, valve modules 210 and expediently a support section 220 on which the valve modules 210 are arranged. According to an alternative embodiment not shown, the valve modules are arranged in the support section.

[0019] The valve device 110 exemplarily comprises a compressed air source 250 and / or a compressed air sink 260. The support section 220 has a compressed air inlet 232 and a compressed air outlet 234. The compressed air source 250 is pneumatically connected to the support section 220 via the compressed air inlet 232. The compressed air sink 260 is pneumatically connected to the support section 220 via the compressed air outlet 234. The compressed air sink can, for example, be the environment of the valve device or valve arrangement.

[0020] The support section 220 further comprises a plurality of, exemplary twelve, working connections 230, of which two are assigned to a respective valve module 210. For the sake of clarity, Fig. 1 only two working connections 230 are provided with reference symbols.

[0021] The pneumatic drive unit 300 has a drive element 330, which can be set into a displacement movement by the valve device 110 by means of pneumatic actuation. The pneumatic drive unit 300 is embodied, for example, as a pneumatic cylinder and preferably has a first pressure chamber 311 and a second pressure chamber 312.

[0022] The drive element 330 is designed, for example, as a piston assembly. The piston assembly expediently comprises a piston 322 and a piston rod 320. The drive element 330 separates the opposing pressure chambers 311, 312 from each other.

[0023] Both pressure chambers 311, 312 are each connected to a respective pneumatic working connection 230, for example via a respective hose. These two working connections 230 are assigned to a single valve module 210, for example.

[0024] The piston 322 is arranged between the first pressure chamber 311 and the second pressure chamber 312. The piston rod 320 is connected to the piston 322 and preferably protrudes from the second pressure chamber 312. By way of example, the pneumatic drive unit 300 is designed as a double-acting pneumatic cylinder. Alternatively, the pneumatic drive unit 300 can be designed as a single-acting pneumatic cylinder.

[0025] The control device 400 comprises, for example, a control device 410 and a control section 240 assigned to the valve arrangement 200. The control device 410 is embodied, for example, as a higher-level controller, in particular as a programmable logic controller (PLC). The control section 240 is arranged, for example, on the support section 220. Conveniently, the control section 240 is part of the valve arrangement 200. The valve arrangement 200 is, for example, a valve island. The control device 410 is communicatively connected to the control section 240.

[0026] If the drive element 330 is now to be moved, the control device 400 controls the corresponding valve module 210 such that the first pressure chamber 311 and / or the second pressure chamber 312 is vented and / or vented. If, for example, the drive element 330 is to be moved in a first travel direction 342 (exemplarily to the left in the illustration), the first pressure chamber 311 can be vented and / or the second pressure chamber 312 can be vented. If, for example, the drive element 330 is to be moved in a second travel direction 344 (exemplarily to the right in the illustration), which runs opposite to the first travel direction 342, the second pressure chamber 312 can be vented and / or the first pressure chamber 311 can be vented.

[0027] The venting is preferably carried out by pneumatically connecting the corresponding pressure chamber 311, 312 via the corresponding working connection 230, the corresponding valve module 210 and the compressed air inlet 232 to the compressed air source 250. The venting is preferably carried out by pneumatically connecting the corresponding pressure chamber 311, 312 via the corresponding working connection 230, the corresponding valve module 210 and the compressed air outlet 234 to the compressed air sink 260. The establishment and termination of the aforementioned pneumatic connections is preferably carried out by the control device 400, in particular the control section 240, controlling the respective valve module 210 accordingly and the respective valve module 210 switching a valve (or several valves) of the valve module 210 accordingly in accordance with the control.

[0028] The Fig. Figure 2 shows a further development of the pneumatic system 100 in an exemplary application context. The above, to which reference is made in the Fig. The explanations relating to the pneumatic system 100 shown in Figure 1 also apply to the pneumatic system 100 shown in Figure 1. Fig. 2 shown pneumatic system 100.

[0029] The Fig. The pneumatic system 100 shown in Figure 2 has several, exemplary four, pneumatic drive units 300. As an example, the pneumatic drive units 300 shown in Figure 2 include Fig. 2 further comprises a glass element 500.

[0030] Each pneumatic drive unit 300 is expediently designed like the drive unit 300 described above, for example as a pneumatic cylinder. Each pneumatic drive unit 300 can expediently be pneumatically actuated by the valve device 110 to effect a respective displacement movement of a respective drive element 330. For example, each pneumatic drive unit 300 has a respective first pressure chamber 311 and a respective second pressure chamber 312, which are connected to respective working ports 230, in particular such that each pressure chamber 311, 312 is connected to its own working port 230 and / or can be ventilated and vented separately.

[0031] The pneumatic drive units 300 serve, by way of example, to align the glass element 500, for example, by moving the drive elements 330 to a respective corner region, in particular a respective corner, of the glass element 500 and / or by moving the glass element 500 by moving the drive elements 330. Preferably, the glass element 500 can be aligned by moving at least one drive element 330, in particular a piston rod 320, preferably all four drive elements 330, in particular all four piston rods 320. The drive elements 330, in particular the piston rods 320, are expediently moved such that they arrive at the glass element 500 simultaneously and / or arrive at their respective desired end position simultaneously.For example, the control device 400 controls the valve arrangement 200 such that the drive units 300 are pneumatically actuated simultaneously by the valve arrangement 200, thereby enabling the drive elements 330 to arrive at the glass element 500 simultaneously.

[0032] The Fig. Figure 3 shows a block diagram 1 of a position control of a drive element 330 of a pneumatic drive unit 300. For each pneumatic drive unit 300, a respective position control is expediently carried out, which is particularly designed as the position control explained below. The position control is particularly carried out by the Fig. 1 or the one in the Fig. 2. Each position control is subordinate to a respective pressure control.

[0033] Alternatively, a respective position control can be carried out for each pneumatic drive unit 300.

[0034] At the input, a position setpoint signal 2 is specified, for example, by the control device 400, in particular by the control device 410. The position setpoint signal 2 specifies, for example, a time-distance curve, which can also be referred to as a trajectory. An actual position value signal 3 is provided at the output, for example, by means of a position sensor device 420, which is expediently arranged on the pneumatic drive unit 300 (see FIG. Fig. 1). The actual position signal 3 acts as a controlled variable.

[0035] A difference is formed between the position setpoint signal 2 and the actual position signal 3, which is fed into a position controller 15 as a position difference signal 23. The position controller 15 calculates a force command signal 5 based on the position difference signal 23.

[0036] The position controller 15 is designed, for example, as a proportional controller (P controller). Furthermore, the position controller 15 can be designed differently, for example, as a proportional-integral controller (PI controller), a proportional-derivative controller (PD controller), or a proportional-integral-derivative controller (PID controller).

[0037] Subsequently, a pilot control signal 41 is added to the force setpoint signal 5 to obtain a force setpoint signal 7. The force setpoint signal 7 thus corresponds to an adjusted force setpoint signal. The force setpoint signal 7 is fed into a force-to-pressure converter 17, which calculates a pressure setpoint signal 9 based on the force setpoint signal 7. This preferably takes into account the pressure required to exert a force corresponding to the force setpoint signal 7 on the drive element 330 of the pneumatic drive unit 300. If the pneumatic drive unit 300 is single-acting, the spring force counteracting the pressure in the pressure chamber can also be taken into account. If the pneumatic drive unit 300 is double-acting, the pressure setpoint signal 9 comprises a first pressure setpoint signal for the first pressure chamber 311 and a second pressure setpoint signal for the second pressure chamber 312.It is expedient to carry out a separate pressure control (in particular that explained below) for each pressure chamber 311, 312.

[0038] The pneumatic system 100 provides a respective actual pressure value signal 11 for each pressure chamber 311, 312, for example by means of a pressure sensor device 430 (cf. Fig. 1, in which, for the sake of clarity, only one pressure sensor device 430 is provided with a reference numeral), which is, for example, part of the valve arrangement 200. The actual pressure value signal 11 functions as the controlled variable of the subordinate pressure control. Between the pressure setpoint signal 9 and the actual pressure value signal 11, a difference is formed, which is fed into a pressure regulator 19 as a pressure difference signal 21. The pressure regulator 19 outputs one or more pneumatic signals 25 in accordance with the pressure difference signal 21. The compressed air supplied to a pressure chamber 311, 312, in particular the compressed air flow flowing into a pressure chamber 311, 312, and / or the compressed air discharged from a pressure chamber 311, 312, in particular the compressed air flow flowing out of a pressure chamber 311, 312, is to be referred to as the pneumatic signal 25.

[0039] The pneumatic drive unit 300 is pneumatically actuated by means of the one or more pneumatic signals 25. This results in a displacement movement of the drive element 330 along the first displacement direction 342 or along the second displacement direction 344 (see Fig. 1).

[0040] After completion of the travel movement, a travel duration of the travel movement is recorded, in particular by the control device 400, for example using the position sensor device 420. The travel duration is optionally provided as a travel duration actual value signal 13, which can expediently function as a further controlled variable.

[0041] A friction parameter adjustment unit 43 is preferably provided, which adjusts a friction parameter based on the detected travel duration. For this purpose, the travel duration actual value signal 13 is preferably fed into the friction parameter adjustment unit 43. The friction parameter relates to a friction occurring in the pneumatic drive unit 300. For example, the friction parameter adjustment unit 43 compares the detected travel duration with a travel duration setpoint and increases the friction parameter in response to the travel duration being greater than the travel duration setpoint and / or decreases the friction parameter in response to the travel duration being less than the travel duration setpoint. A pilot control component calculation unit 45 is also expediently provided, which calculates a pilot control component based on the adjusted friction parameter.When calculating the pilot control component, the pilot control component calculation unit 45 expediently takes into account a speed of the drive element 330 predetermined by the position setpoint signal 2, in particular by a gradient of the position setpoint signal 2. By way of example, the calculated pilot control component is provided as the pilot control signal 41.

[0042] Preferably, the pre-control component is calculated as a function of the adjusted friction parameter. For example, a higher adjusted friction parameter results in a higher (in magnitude) pre-control component being calculated, and a lower (in magnitude) pre-control component being calculated for a lower adjusted friction parameter.

[0043] Preferably, the aforementioned calculations are carried out by the control device 400, in particular the control device 410 or the control section 240.

[0044] For example, the position controller 15, the force-pressure converter 17, the friction parameter adjustment unit 43, and / or the pilot control component calculation unit 45 are implemented in the control device 400, in particular the control unit 410 or the control section 240. For example, the position controller 15 and the force-pressure converter 17 are implemented in the control unit 410, and / or the pressure controller 19 is implemented by means of the control section 240 and the valve arrangement 200.

[0045] The Fig. 4 shows a method 600 according to the invention. The method 600 is carried out by way of example with a pneumatic system 100 as described above.

[0046] The method 600 comprises a first step 610, which should also be referred to as step (a). In the first step 610, a first pneumatic actuation of the pneumatic drive unit 300 takes place in order to effect a first displacement movement of the drive element 330. The first pneumatic actuation takes place in particular by the valve device 110. The first pneumatic actuation takes place, for example, in that the control device 400 controls the valve module 210 assigned to the pneumatic drive unit 300, for example in such a way that the first pressure chamber 311 is vented and the second pressure chamber 312 is vented. The first displacement movement takes place, for example, in the first displacement direction 342. In particular, the first displacement movement takes place from a start position to a target position.To perform the first travel movement, the pneumatic system 100 preferably performs a position control or position regulation, in particular as described above. For example, the start position and / or target position is specified by the actual position value signal 3.

[0047] The method 600 further comprises a second step 620, which should also be referred to as step (b). In the second step 630, a first travel duration required for the first travel movement is detected. The travel duration is, for example, the time required by the drive element 330 to move from the starting position to the target position. The travel duration is preferably detected by the control device 400, for example, using the position sensor device 420. The travel duration is expediently provided as the travel duration actual value signal 13.

[0048] The method 600 further comprises a third step 630, which should also be referred to as step (c). In the third step 630, the friction parameter is adjusted based on the detected first travel duration. The friction parameter refers to a friction occurring in the pneumatic drive unit 300. The adjustment of the friction parameter is preferably carried out as explained above—in particular with the friction parameter adjustment unit 43 described above. The friction parameter is adjusted based on the detected travel duration. For example, the friction parameter adjustment unit 43 compares the detected travel duration with a travel duration setpoint and increases the friction parameter in response to the travel duration being greater than the travel duration setpoint and / or decreases the friction parameter in response to the travel duration being less than the travel duration setpoint.Furthermore, a pilot control component is expediently calculated using the pilot control component calculation unit 45 on the basis of the adjusted friction parameter.

[0049] The method 600 further comprises a fourth step 640, which can also be referred to as step (d). In the fourth step 640, a position control or a position control of the drive element 330 is carried out in order to effect a second travel movement of the drive element 330. The second travel movement expediently takes place in the same travel direction as the first travel movement, for example in the first travel direction 342. The second travel movement preferably takes place from the same starting position and to the same target position as the first travel movement. For example, the starting position and / or target position for the second travel movement is also specified by the actual position value signal 3. The position control is carried out in particular as explained above.

[0050] Within the scope of the position control, a second pneumatic actuation of the pneumatic drive unit 300 (exemplarily by the valve device 110) takes place, taking into account the adjusted friction parameter. Due to the adjusted friction parameter, a second travel duration adjusted compared to the first travel duration is required for the second travel movement. The second travel duration therefore differs from the first travel duration. The second pneumatic actuation preferably takes place in the same way as the first pneumatic actuation described above—exemplarily, the control device 400 controls the valve module 210 assigned to the drive unit 300 such that the first pressure chamber 311 is vented and the second pressure chamber 312 is vented.

[0051] The position control in the fourth step 640 is preferably carried out using a setpoint signal that is calculated as a function of the adjusted friction parameter. For example, within the scope of the position control, a pressure control (in particular the pressure control associated with the Fig. 3). Preferably, the setpoint signal is the pressure setpoint signal 9.

[0052] For example, the pilot control component is adjusted based on the adjusted friction parameter, and the position control (carried out for the second travel movement) is carried out using the adjusted pilot control component. The pilot control component is preferably calculated based on the adjusted friction parameter using the pilot control component calculation unit 45. The pilot control component is preferably calculated as explained above. Preferably, the pilot control component can be added to a controller signal to obtain a default signal, and the position control can be carried out using the default signal.

[0053] Preferably, the force command signal 5 is adjusted based on the adjusted friction parameter. Preferably, the adjusted force command signal (which, for example, corresponds to the force command signal 7) is converted into the pressure command signal 9, on the basis of which the pressure control is carried out. The second pneumatic actuation, which effects the second travel movement, takes place within the framework of the pressure control.

[0054] Preferably, the adjusted friction parameter depends on the sliding friction occurring in the pneumatic drive unit 300. The adjusted friction parameter thus relates in particular to the sliding friction of the drive element 330.

[0055] Preferably, one or more further travel movements take place after the second travel movement. The further travel movements expediently take place in the same travel direction as the second travel movement, in particular from the same starting position to the same target position as the second travel movement. For each of the further travel movements, the position regulation or position control explained above is expediently carried out. Before each of the further travel movements, the friction parameter is adjusted based on a recorded travel duration of the respective previous travel movement. The adjusted friction parameter is then used for the position regulation or position control of the respective further travel movement, in particular as described above. The adjustment of the friction parameter is preferably carried out as described above, in particular analogously to step (c) described above.In this way, the travel time can be continuously optimized and / or friction in the pneumatic drive unit 300, which changes, for example, due to operating time, can be continuously compensated.

[0056] According to an optional embodiment, the control device 400 has a first friction parameter and a second friction parameter, which in particular differ from one another and / or are adjusted independently of one another. Depending on the direction of the travel movement, the control device 400 uses either the first friction parameter or the second friction parameter as the friction parameter for position control or position regulation.

[0057] Preferably, steps (a), (b), (c), and (d) are performed once with respect to the first travel direction 342 of the drive element 330 in order to adapt the first friction parameter associated with the first travel direction 342 as the friction parameter. Preferably, steps (a), (b), (c), and (d) are additionally performed once with respect to the second travel direction 344 opposite the first travel direction 342 in order to adapt the second friction parameter associated with the second travel direction 344 as the friction parameter. In this way, the accuracy of the control of the travel duration can be increased. In particular, the travel duration for a travel movement in the first travel direction 342 can be adapted independently of the travel duration for a travel movement in the second travel direction 344.

[0058] The following will explain how, in a pneumatic system 100 (for example, the one shown in the Fig. 2) with a plurality of drive units 300, the travel durations are adjusted. Conveniently, the control device 400 has a respective friction parameter for each drive unit 300, which is assigned to this drive unit 300 and relates to the friction occurring in this drive unit 300. The control device 400 carries out a respective position regulation or position control for each drive unit 300 (in particular as described above) and uses the respectively assigned friction parameter for the position regulation or position control. The control device 400 carries out the respective position regulations or position controls, in particular simultaneously. In order to achieve simultaneous arrival of the drive elements 330 at the glass element 500, one or more of the friction parameters are preferably adjusted, as explained in more detail below.

[0059] As mentioned above, a plurality of pneumatic drive units 300 are preferably present. Steps (a) and (b) are performed for each of the pneumatic drive units 300 (in particular by means of the valve device 110) in order to obtain a respective first travel duration for each of the pneumatic drive units 300. As mentioned above, each of the pneumatic drive units 300 is assigned a respective friction parameter.

[0060] Preferably, in step (c), one or more respective friction parameters are adjusted based on the first travel duration of the respectively assigned pneumatic drive unit 300 (in particular by the control device 400). The adjustment of each friction parameter is carried out in particular in the same way as the adjustment of a friction parameter explained above.

[0061] Preferably, the adjustment of the one or more friction parameters is carried out such that the second travel durations are equal to each other compared to the first travel durations, i.e., in particular, such that the differences between the second travel durations are smaller than the differences between the first travel durations. In particular, the adjustment of the friction parameters is carried out such that the second travel durations are equal.

[0062] For example, a target travel duration may be defined (in particular in the control device 400) and the control device 400 may adjust the friction parameters such that the second travel durations are equal to the target travel duration or are closer to the target travel duration than the first travel durations.

[0063] Optionally, one of the first travel durations can be set as the target travel duration. Furthermore, it is possible for one or more of the first travel durations to already correspond to the target travel duration. Preferably, in step (c), not every friction parameter is adjusted, but rather only those friction parameters assigned to those drive units 300 whose first travel duration does not correspond to the target travel duration or is not set as the target travel duration. The target travel duration is preferably specified by the travel duration setpoint signal 27.

[0064] Optionally, an average of several, preferably all, initial travel times can be set for the target travel time. Optionally, in step (c), all friction parameters are adjusted, in particular such that the travel times are adjusted toward the target travel time.

[0065] Preferably, in step (d), a respective position regulation or position control is carried out for each pneumatic drive unit 300 (in particular by means of the valve device 110) in order to effect a respective second travel movement of the respective drive element 330 with a respective second travel duration. Within the scope of the respective position regulation or position control, a respective second pneumatic actuation of the respective pneumatic drive unit 300 takes place, taking into account the respective friction parameter. Preferably, one or more of the friction parameters used in step (d) in the position regulation or position control are adapted friction parameters (which were adapted, for example, in step (c)). Optionally, all of the friction parameters used in step (d) in the position regulation or position control can be adapted friction parameters.

[0066] If the respective friction parameter is not adjusted, the respective second travel duration corresponds to the corresponding first travel duration. If the respective friction parameter is adjusted, the respective second travel duration deviates from the corresponding first travel duration. Two, three, or preferably four (see Fig. 2), but also more than four, for example, five, ten, twenty, or even more pneumatic drive units 300 can be provided. In this way, flat objects can be aligned, in particular, which rest at different points on a respective drive element 330 of the corresponding pneumatic drive unit 300.

[0067] Preferably, the second travel movements serve to align the glass element 500. Second travel movements are understood to be those travel movements that follow the first travel movement. This can improve the quality of manufacturing processes, particularly those in semiconductor technology.

[0068] Preferably, the second movements occur during display production. Here, too, second movements are understood to be movements that follow the first movement.

Claims

[1] Method (600) for adjusting a travel time of a drive element (330) of a pneumatic drive unit (300), comprising the steps: (a) first pneumatic actuation of the pneumatic drive unit (300) to effect a first displacement movement of the drive element (330), (b) Determining a first travel time required for the first travel movement, (c) adjusting a friction parameter based on the detected first travel time, wherein the friction parameter relates to a friction occurring in the pneumatic drive unit (300), (d) Carrying out a position control or position regulation of the drive element (330) in order to effect a second travel movement of the drive element (330), wherein, as part of the position control or position regulation, a second pneumatic actuation of the pneumatic drive unit (300) takes place taking into account the adjusted friction parameter, so that, due to the adjusted friction parameter, a second travel duration adapted to the first travel duration is required for the second travel movement. [2] Method (600) according to claim 1, wherein the position control in step (d) is carried out using a setpoint signal which is calculated as a function of the adjusted friction parameter. [3] Method (600) according to claim 1 or 2, wherein a pilot control component is adjusted on the basis of the adjusted friction parameter and the position control or position regulation is carried out using the adjusted pilot control component. [4] Method (600) according to one of the preceding claims, wherein a force specification signal (5) is adjusted on the basis of the adjusted friction parameter, and the adjusted force specification signal is converted into a pressure setpoint signal (9) on the basis of which a pressure control is carried out, wherein the second pneumatic actuation, with which the second travel movement is effected, takes place within the scope of the pressure control. [5] Method (600) according to one of the preceding claims, wherein the adjusted friction parameter depends on a sliding friction occurring in the pneumatic drive unit (300). [6] Method (600) according to one of the preceding claims, wherein after the second travel movement, one or more further travel movements take place and before each of the further travel movements, the friction parameter is adapted on the basis of a detected travel duration of the respective previous travel movement. [7] Method (600) according to one of the preceding claims, wherein steps (a), (b), (c) and (d) are carried out once with respect to a first direction of travel (342) of the drive element (330) in order to adapt a first friction parameter associated with the first direction of travel (342) as the friction parameter, and wherein steps (a), (b), (c) and (d) are additionally carried out once with respect to a second direction of travel (344) opposite to the first direction of travel (342) in order to adapt a second friction parameter associated with the second direction of travel (344) as the friction parameter. [8] Method (600) according to one of the preceding claims, wherein a plurality of pneumatic drive units (300) is present and steps (a) and (b) are carried out for each of the pneumatic drive units (300) in order to obtain a respective first travel duration for each of the pneumatic drive units (300), wherein each of the pneumatic drive units (300) is assigned a respective friction parameter and in step (c) one or more respective friction parameters are adjusted on the basis of the first travel duration of the respectively assigned pneumatic drive unit (300) and in step (d) a respective position regulation or position control is carried out for each pneumatic drive unit (300) in order to effect a respective second travel movement of the respective drive element (330) with a respective second travel duration,wherein, within the framework of the respective position controls or position controllers, a respective second pneumatic actuation of each pneumatic drive unit (300) takes place taking into account the respective friction parameter. [9] The method (600) of claim 8, wherein the adjusting of the one or more friction parameters is performed such that the second travel times are equal to each other with respect to the first travel times. [10] Method (600) according to claim 8 or 9, wherein the second travel movements serve to align a glass element (500). [11] Method (600) according to claim 10, wherein the second travel movements take place within the scope of display production. [12] Pneumatic system (100) comprising a valve arrangement (200) and at least one pneumatic drive unit (300) with a drive element (330) that can be pneumatically actuated by means of the valve arrangement (200), wherein the pneumatic system (100) is designed to carry out a method (600) according to one of the preceding claims.

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