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EP1747380B1 - Procede de localisation de defaut et diagnostic d'une installation fluidique - Google Patents

Procede de localisation de defaut et diagnostic d'une installation fluidique Download PDF

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Publication number
EP1747380B1
EP1747380B1 EP04727868A EP04727868A EP1747380B1 EP 1747380 B1 EP1747380 B1 EP 1747380B1 EP 04727868 A EP04727868 A EP 04727868A EP 04727868 A EP04727868 A EP 04727868A EP 1747380 B1 EP1747380 B1 EP 1747380B1
Authority
EP
European Patent Office
Prior art keywords
consumption
diagnosis
subsystems
detected
fluid
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP04727868A
Other languages
German (de)
English (en)
Other versions
EP1747380A1 (fr
Inventor
Jan Bredau
Jens Engelhardt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Festo SE and Co KG
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Festo SE and Co KG
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Publication date
Application filed by Festo SE and Co KG filed Critical Festo SE and Co KG
Publication of EP1747380A1 publication Critical patent/EP1747380A1/fr
Application granted granted Critical
Publication of EP1747380B1 publication Critical patent/EP1747380B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/005—Fault detection or monitoring

Definitions

  • the invention relates to a method for limiting errors and diagnosis on a fluidic system, in particular on a pneumatic system, having the features of the preamble of claim 1.
  • the object of the present invention is to provide a method of the type mentioned above for fault isolation and diagnosis, through which the system and / or subsystem of the system can be easily detected by simple means in which an error occurs, so for example a malfunction or a leak.
  • the advantages of the method according to the invention for fault isolation and diagnosis are, in particular, that in terms of hardware, only an additional volume flow sensor system in the supply line of the system is required in order to measure the fluid consumption.
  • the already existing position, limit switch and Aktor horrsignale be used to allocate events detected in the fluid consumption measurement certain systems or subsystems and thereby detect a fault.
  • Both malfunctions in the respective system and / or subsystem as well as leaks can be detected and assigned to the respective system or subsystem.
  • An error can be limited to a specific system within the plant or even to a specific subsystem. This is done very quickly during the sequence program of the system control.
  • a temporal comparison is advantageously carried out with the sequence program of the system control. This can easily be determined by the sequence program, which system or subsystem was or is active at the specified time. In addition, it checks which control signals for systems or subsystems and / or sensor feedback occurred immediately before this time and to which systems or subsystems they were assigned. As a result, the faulty system or subsystem can be determined more accurately.
  • the travel and / or positioning times of the systems and / or subsystems are additionally checked based on stored reference values before or during the fluid consumption diagnosis. If deviations from the stored traversing and / or positioning times are detected, then it can be concluded that the faulty system and - if this is done before the consumption diagnosis - the fluid consumption diagnosis itself can also be omitted if the faulty system or subsystem already could be determined by the preliminary proceedings.
  • the detected fluid consumption and the stored reference consumption are expediently present as curves, which are generated in particular by summation or integration of flow values.
  • a particularly good error detection is achieved in that difference values or difference curves between fluid consumption and reference consumption are formed, since these deviations can be detected particularly easily.
  • the fluid consumption is detected and diagnosed in several areas of the fluidic system by means of a plurality of flowmeter devices.
  • This increases the diagnostic reliability and also the uniqueness of the error detection, in particular if several systems are moving at the same time. For example, more security-relevant Areas of the system can be monitored in this way additionally or separately.
  • these parameters or at least one of these parameters are expediently detected and can be used for parameter-dependent correction of the fluid consumption.
  • a pneumatic system is shown schematically, which could in principle also be another fluidic system, such as a hydraulic system, act.
  • the pneumatic system consists of five subsystems 10-14, which may each be actuators, such as valves, cylinders, linear actuators, and the like, as well as combinations thereof. These subsystems 10-14 are fed by a pressure source 15, wherein in a common supply line 16, a flow meter 17 for measuring the flow or the volume flow is arranged. By summing or integrating the measured values for the flow or volume flow or mass flow, the air consumption is obtained.
  • An electronic control device 18 is used to specify the process flow of the system and is electrically connected to the subsystems 10-14.
  • the subsystems 10-14 receive control signals from the electronic control device 18 and send sensor signals back to them.
  • sensor signals are, for example, position signals, limit switch signals, pressure signals and the like.
  • the flowmeter 17 is connected to an electronic diagnostic device 19, which in addition the signals of a temperature sensor 20 and a pressure sensor 21 for measuring the temperature and the pressure in the supply line 16 are supplied. Furthermore, the diagnostic device 19 has access to the sequence program of the electronic control device 18. The diagnostic results are supplied to a display 22, these diagnostic results can of course also be stored, printed or transmitted to a control center via lines or wirelessly.
  • the diagnostic device 19 can also be integrated in the electronic control device 18, which may contain, for example, a microcontroller for carrying out the sequence program and optionally for diagnosis.
  • Fig. 2 includes there only partially shown diagnostic device 19 a drain memory 23, in which the pneumatic Air consumption during execution of the sequence program of the pneumatic system is stored in the form of a reference air consumption curve.
  • this reference curve can be formed, for example, by addition or integration of reference flow values during the sequence program. It can be stored, for example, in a learning mode.
  • a difference curve ⁇ L is formed as the difference between the air consumption curve L formed from the measured values and the reference curve L ref .
  • the difference curve .DELTA.L and the air consumption curve L and the reference air consumption curve L ref can be reproduced, as in connection with the 4 to 6 will be explained in more detail.
  • Fig. 3 represents an expanded version of the embodiment according to Fig. 1
  • the pressure source 15 supplies additional subsystems 25-32 here.
  • the additional subsystems 25-32 are divided into two groups, each of which is supplied with compressed air via its own flow meter 33, 34.
  • the electronic control device 18, the diagnostic device 19 and corresponding temperature sensors and pressure sensors are not shown for the sake of simplicity, but are of course also corresponding Fig. 1 intended.
  • a common control device and a common diagnostic device 19 may be provided as two separate units or as a single integrated unit.
  • the reference air consumption curve L ref agrees with the measured air consumption curve L until the time t1, that is, the difference or the difference curve remains at the zero value.
  • an error occurs, for example, due to the delayed movement of the actuator in one of the subsystems 10-14, which could be caused, for example, by a momentary jamming of an axle.
  • the entire cycle shifts and extends by the time? T of the delayed movement, the air consumption at the end of the cycle coinciding with that of the reference air consumption curve L ref . This indicates that, incidentally, no leakage has occurred. From the difference curve, exactly the time t1 can be detected, from which the deviation has occurred.
  • the diagnostic device 19 is according to Fig.
  • Fig. 5 the case is shown that during the entire sequence program, ie during the entire cycle of the system, the difference .DELTA.L to a small range between t2 and t3 is constantly increasing, so that at the end of the cycle the total air consumption L is significantly greater than the reference air consumption L ref .
  • the curve represents the case of a leak at an actuator of a subsystem. This is partly pressurized during the cycle and partly depressurized. In the depressurized state, consequently, there is an air consumption difference of 0 or an air consumption difference no longer increasing during this time interval.
  • the sequence program is now determined which actuator was pressureless during this time interval and during the remaining time pressurized. The leakage can thus be limited to this actuator.
  • FIG. 6 shown diagram occurs in a time interval from the time t4 on an air consumption difference to the reference air consumption curve L ref on and again in a time interval from the time t5. Again, it must be determined by comparison with the sequence program, which actuator or which subsystem were active in these two time intervals from the time t4 and t5. These are thereby identified as being defective, which may also be the same actor or subsystem that occurs twice during the sequence program.
  • a new reference value for the air consumption is calculated, which results from the old reference value (0) and the new offset in the air consumption. In the following cycle, the measured air consumption is checked for deviations with the new reference value.
  • the error can be determined again.
  • the limits for a permissible air consumption change can be fixed or kept variable according to the current air consumption values. So it is possible on the one hand, in the range of a small air consumption at the beginning of the cycle To choose very narrow barriers to get a very high sensitivity, and on the other hand in the area of high air consumption at the end of the cycle to set rough barriers to be robust against fluctuation and measurement errors.
  • the flow measured values or air consumption values are subjected to a temperature correction and a pressure correction, wherein the corresponding measured variables are made available by the temperature sensor 20 and the pressure sensor 21.
  • a temperature correction or only a pressure compensation can be provided, or it is dispensed with any compensation, especially if the expected pressure and temperature influences are not very large.
  • the diagnostic method according to the invention can then be realized by software supplementation.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Investigating Or Analysing Biological Materials (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)

Claims (7)

  1. Procédé pour limitation des erreurs et diagnostic dans une installation fluidique, sachant que la consommation de fluide (L) inclut au moins une zone de l'installation et est comparée en fonction du cycle opérationnel à une consommation de référence sauvegardée correspondante (Lref), sachant que l'on effectue, en vue de la détermination du ou des systèmes et/ou sous-systèmes entachés d'erreurs (10-14, 25-32) au moment d'une déviation de consommation (ΔL) ou de la fin d'une déviation de consommation permanente, une comparaison temporelle avec une courbe de consommation d'air de référence, laquelle comparaison est sauvegardée dans une mémoire de déroulement (23) et comporte la consommation d'air pneumatique pendant l'exécution du programme de déroulement de la commande d'installation (18) de l'installation pneumatique, caractérisé en ce que l'on contrôle quels signaux de commande pour les systèmes ou sous-systèmes et/ou quels messages d'information en retour de capteurs sont apparus immédiatement avant ce moment et à quels systèmes et/ou sous-systèmes ils étaient attribués, pour reconnaître celui-ci ou ceux-ci comme entachés d'erreurs, et en ce que l'on contrôle en sus, avant ou pendant le diagnostic de consommation, les temps de déplacement et/ou de positionnement des systèmes et/ou sous-systèmes sur la base des valeurs de référence sauvegardées.
  2. Procédé selon la revendication 1, caractérisé en ce que le diagnostic de consommation n'est pas exécuté en cas d'apparition d'erreurs lors des temps de déplacement et/ou de positionnement.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que l'on enregistre en sus encore la température et/ou la pression du fluide.
  4. Procédé selon la revendication 3, caractérisé en ce que la consommation de fluide mesurée (L) subit une correction en fonction de la température et/ou de la pression.
  5. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que la consommation de fluide enregistrée (L) et la consommation de référence sauvegardée (Lref) sont disponibles sous forme d'allures de courbe, qui sont produites, en particulier, par sommation ou intégration de valeurs de débit.
  6. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que l'on forme les valeurs de différence (ΔL) ou les allures de courbe de différence entre la consommation de fluide (L) et la consommation de référence (Lref).
  7. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que la consommation de fluide de plusieurs zones de l'installation fluidique est enregistrée et soumise à une procédure de diagnostic à l'aide de plusieurs équipements de mesure de débits (17, 33, 34).
EP04727868A 2004-04-16 2004-04-16 Procede de localisation de defaut et diagnostic d'une installation fluidique Expired - Lifetime EP1747380B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2004/004050 WO2005111433A1 (fr) 2004-04-16 2004-04-16 Procede de localisation de defaut et diagnostic d'une installation fluidique

Publications (2)

Publication Number Publication Date
EP1747380A1 EP1747380A1 (fr) 2007-01-31
EP1747380B1 true EP1747380B1 (fr) 2011-07-06

Family

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EP04727868A Expired - Lifetime EP1747380B1 (fr) 2004-04-16 2004-04-16 Procede de localisation de defaut et diagnostic d'une installation fluidique

Country Status (5)

Country Link
EP (1) EP1747380B1 (fr)
CN (1) CN1973136B (fr)
AT (1) ATE515638T1 (fr)
DK (1) DK1747380T3 (fr)
WO (1) WO2005111433A1 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100014067A (ko) * 2007-02-14 2010-02-10 페스토 악티엔 게젤샤프트 운트 코. 카게 유체 동력 시스템에서의 오차 억제 및 진단 방법
KR20100014066A (ko) 2007-02-14 2010-02-10 페스토 악티엔 게젤샤프트 운트 코. 카게 유체 동력 시스템에서의 오차 억제 및 진단 방법
DE102012005224A1 (de) * 2012-03-15 2013-09-19 Festo Ag & Co. Kg Fluidsystem und Verfahren zum Betreiben eines Fluidsystems
CN104533881B (zh) * 2014-12-04 2016-09-21 上海中联重科桩工机械有限公司 工程机械行走跑偏原因的判断系统及判断方法
EP3243608B1 (fr) 2016-05-09 2022-04-06 J. Schmalz GmbH Procede de surveillance des etats de fonctionnement d'un actionneur commande par pression et actionneur commande par pression
CN107420381B (zh) * 2017-03-17 2018-11-23 北京交通大学 一种伺服阀温筛系统的标定装置
IT201800007875A1 (it) * 2018-08-06 2020-02-06 Gd Spa Un metodo di diagnosi ed una unità operativa di una linea di produzione per articoli da fumo
CN109325692B (zh) * 2018-09-27 2021-01-22 清华大学合肥公共安全研究院 水管网的数据实时分析方法及装置
FR3107955A1 (fr) * 2020-03-05 2021-09-10 Sagemcom Energy & Telecom Sas Détection d’une dérive métrologique anormale d’un compteur de fluide

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US5136499A (en) * 1986-07-07 1992-08-04 Rydborn S A O Monitoring for distinguishing normal from abnormal deviations in a knitting machine
US5067099A (en) * 1988-11-03 1991-11-19 Allied-Signal Inc. Methods and apparatus for monitoring system performance
GB2285700B (en) * 1994-01-12 1998-06-24 Drallim Ind Monitoring apparatus and method
DE19628221C2 (de) * 1996-07-15 2000-05-31 Festo Ag & Co Verfahren und Vorrichtung zur Bestimmung von Betriebspositionen einer Arbeitseinrichtung
DE10052664B4 (de) * 2000-10-24 2004-10-28 Festo Ag & Co. Vorrichtung zur Prozeßüberwachung
DE20120609U1 (de) * 2001-12-20 2002-03-21 Beck IPC GmbH, 35578 Wetzlar Diagnoseeinrichtung für eine fluidtechnische Einrichtung sowie damit ausgestattete fluidtechnische Einrichtung

Also Published As

Publication number Publication date
EP1747380A1 (fr) 2007-01-31
ATE515638T1 (de) 2011-07-15
CN1973136B (zh) 2014-09-24
WO2005111433A1 (fr) 2005-11-24
CN1973136A (zh) 2007-05-30
DK1747380T3 (da) 2011-09-26

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