CN102588394A - Movement control device, method, system and engineering machinery of hydraulic actuating mechanism - Google Patents
Movement control device, method, system and engineering machinery of hydraulic actuating mechanism Download PDFInfo
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- CN102588394A CN102588394A CN201210065242XA CN201210065242A CN102588394A CN 102588394 A CN102588394 A CN 102588394A CN 201210065242X A CN201210065242X A CN 201210065242XA CN 201210065242 A CN201210065242 A CN 201210065242A CN 102588394 A CN102588394 A CN 102588394A
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- hydraulic actuator
- oil pressure
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- difference
- movement position
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- 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
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/765—Control of position or angle of the output member
- F15B2211/7653—Control of position or angle of the output member at distinct positions, e.g. at the end position
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- Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
Abstract
The invention provides a movement control device, a method, a system and engineering machinery of a hydraulic actuating mechanism. The movement control device comprises a control unit, the control unit obtains a current movement position of the hydraulic actuating mechanism and the current oil pressure of the hydraulic actuating mechanism; and when a difference value of the current movement position and an extreme movement position of the hydraulic actuating mechanism is smaller than a position setting value and a difference value of the current oil pressure and reference oil pressure is larger than a pressure setting value, the control unit controls the hydraulic actuating mechanism to stop. By the aid of a position detecting unit and a pressure detecting unit which match with each other, whether the hydraulic actuating mechanism moves to the extreme movement position or not can be accurately recognized, and the problem that in the prior art, an existing hydraulic actuating mechanism cannot be stopped reliably and timely, so that hydraulic components and mechanical components are damaged is resolved.
Description
Technical field
The present invention relates to the hydraulic control field, more specifically, relate to a kind of motion control device, method, system and engineering machinery of hydraulic actuator.
Background technique
Many engineering machinery (for example hoist, high empty wagons, high-altitude fire-fighting truck) all have hydraulic actuator, and hydraulic actuator can comprise hydraulic drive unit (for example hydraulic jack) and the workpiece that driven by hydraulic drive unit (for example jib etc.).With the jib is example, and jib allows the angle place to be provided with the mechanical position limitation structure in the maximum of luffing up and down.From the considerations of aspects such as safety, part engineering machinery (like high empty wagons) can be at first segment arm luffing during to the extreme sport position, inserts dead bolt automatically to the root of jib, so that the luffing position of jib is locked, just allows to carry out other jib operation afterwards.Therefore; In the luffing action of jib; Need the extreme sport position of the upper and lower luffing of perception jib reliably, so that in time make the jib stop motion, otherwise one side possibly cause the damage of hydraulic unit and mechanical part; Also can't dead bolt be inserted the root of jib on the other hand, when serious even can cause security incident.
Summary of the invention
The present invention aims to provide a kind of motion control device, method, system and engineering machinery of hydraulic actuator, locatees problem inaccurate so that hydraulic unit and mechanical part damage with the hydraulic actuator that solves existing technology.
For solving the problems of the technologies described above, according to a first aspect of the invention, a kind of motion control device of hydraulic actuator is provided, comprising: control unit, control unit obtain the current movement position of hydraulic actuator and the current oil pressure of hydraulic actuator; When the difference between the extreme sport position of current movement position and hydraulic actuator less than the difference of position setting value and current oil pressure and benchmark oil pressure during greater than pressure set points, the stop motion of control unit control hydraulic actuator.
According to a second aspect of the invention, a kind of engineering machinery is provided, has comprised hydraulic actuator and the kinetic control system that is used for the motion of hydraulic actuator is controlled, this kinetic control system is above-mentioned kinetic control system.
According to a third aspect of the present invention, a kind of motion control method of hydraulic actuator is provided, has comprised: the current movement position and the current oil pressure that obtain hydraulic actuator; When the difference between the extreme sport position of current movement position and hydraulic actuator less than the difference of position setting value and current oil pressure and benchmark oil pressure during greater than pressure set points, the stop motion of control hydraulic actuator.
The present invention is through the cooperation of its position detection unit and pressure sensing cell; Can identify hydraulic actuator exactly and whether move to the extreme sport position, thus solve existing technology because of can't be reliably in time the stop solution pressure actuator cause the problem of hydraulic unit and mechanical part damage.
Description of drawings
The accompanying drawing that constitutes the application's a part is used to provide further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 has schematically shown the structural representation of the motion control device of the hydraulic actuator in the embodiment of the invention; And
Fig. 2 has schematically shown the control flow chart of the control unit in the embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
As first aspect of the present invention, a kind of motion control device of hydraulic actuator is provided, especially, hydraulic actuator can comprise hydraulic drive unit (for example hydraulic jack) and the workpiece that is driven by this hydraulic drive unit.As shown in Figure 1; This motion control device comprises: control unit (for example microprocessor, PLC controller etc.); Control unit obtain hydraulic actuator current movement position and hydraulic actuator current oil pressure (preferably; Current movement position comes from outside position detection unit; Current oil pressure comes from outside pressure sensing cell), when the difference between the extreme sport position of current movement position and hydraulic actuator less than the difference of position setting value and current oil pressure and benchmark oil pressure during greater than pressure set points, control unit is controlled the hydraulic actuator stop motion.Need to prove that the motion of the workpiece of hydraulic actuator (for example jib etc.) can be a straight line, also can be curve, the checkout value of position detection unit can be length, angle etc.
During work, control unit is according to the testing result of position detection unit (for example angle transducer, encoder etc.), and control hydraulic drive unit (for example hydraulic jack) drives workpiece action (for example drive jib and carry out luffing).When the difference between the testing result of position detection unit (for example, distance or angle etc.) and the limit during, show that hydraulic actuator is near the extreme sport position less than position setting value.After this; Detected oil pressure value and reference oil were compressed into row relatively when control unit was incited somebody to action in fact; If the difference between the two is greater than the oil pressure setting value; Show that then hydraulic actuator has moved to extreme sport position (because during the extreme sport position, the oil pressure of hydraulic drive unit (for example hydraulic jack), just the oil pressure of hydraulic actuator can sharply raise).Like this, at first can tentatively judge hydraulic actuator and whether move to zone near the extreme sport position through the difference between position detection unit and the extreme sport position.On this basis, if it is enough big to detect the oil pressure of hydraulic actuator again, be that the decidable hydraulic actuator has moved to the extreme sport position so.At this moment, control unit control hydraulic actuator (particularly hydraulic drive unit) stops action.
Like this; With respect to existing technology; Can more accurately confirm the extreme sport position of hydraulic actuator; When avoiding independent use position sensor (for example angle transducer), workpiece can not arrive the precalculated position under the driving of hydraulic actuator, causes the problem that hydraulic unit or mechanical part damage.Simultaneously, when also having avoided independent use limit switch because the mechanical bias of limit switch, cause detecting inaccurate, thereby hydraulic unit or mechanical part are damaged, and cause the problem of security incident.
For this reason, in a preferred embodiment, when the difference between the extreme sport position of current movement position and hydraulic actuator during greater than position setting value, control unit control hydraulic actuator moves with first speed; Otherwise, of second speed (for example with the idling pattern) operation of control unit control hydraulic actuator to be lower than first speed.Therefore; The present invention can overcome in the existing technology; When only using limit switch, movement position that can't the real-time perception hydraulic actuator, thereby the problem of the movement velocity of uncontrollable hydraulic actuator; The high vibration problem of (for example jib etc.) has been avoided because the workpiece that motional inertia causes in collision when having alleviated the extreme sport position.Wherein, first speed and second speed can be constant, also can change, as long as make hydraulic actuator near the extreme sport position time, get final product with lower speed.Like this, can reduce the impact when moving to the extreme sport position, thereby prolong the working life of equipment.
Please refer to Fig. 1, when only adopting angular encoder to detect, because a variety of causes, after using a period of time, can all there be phenomenons such as 0 degree drift or precise decreasing in angular encoder, thereby causes the result unreliable; In addition, because the precision of angle transducer itself is limited, this also can make testing result undesirable.If limit luffing when only relying on angle transducer to arrive certain threshold value again; Then might cause jib in fact to arrive the luffing limit; But do not limit the problem of jib action, or jib does not in fact also reach the limit of the problem that movement position but stops luffing.Further,, also can cause to insert the problem of dead bolt, thereby destroy hydraulic unit or mechanical part, even cause security incident because jib does not move to preposition.
For this reason; When the difference between the extreme sport position of current movement position and hydraulic actuator less than the difference of position setting value and current oil pressure and benchmark oil pressure during greater than pressure set points (when saltus step takes place; For example detect a rising edge), control unit is demarcated the position detection unit that is used to detect current movement position according to the current movement position of this moment.When detecting oil pressure generation saltus step; The currency of control unit record position detection unit (for example angular encoder); And with the output value of this currency renewal with the corresponding position detection unit in authority position; Thereby realized real-time correction, prevented because the problem that 0 degree drift phenomenon causes detecting reliability to reduce to position detection unit.Adopt oil pressure whether saltus step to take place, further improved the reliability and the accuracy of testing result, also improved the moving equilibrium property of workpiece as the condition that detects.In addition,, therefore, in long-term using process, need not manual synchronizing, bring convenience to use because present embodiment can be realized the automatic demarcation to position detection unit.
Preferably, the benchmark oil pressure is the difference between the extreme sport position of current movement position and hydraulic actuator when equaling position setting value, the current oil pressure of hydraulic actuator.In this embodiment; Oil pressure when the difference between each current movement position and the extreme sport position is equaled position setting value is as the benchmark oil pressure; Be essentially different according to the method for a certain pressure threshold in definite method of the benchmark oil pressure among use the present invention and the existing technology as extreme sport position judgment foundation; Like this, the present invention can overcome hydraulic system under various operating mode, the problem of the different detection difficult that cause of the oil pressure owing to reaching capacity movement position.
As second aspect of the present invention, a kind of kinetic control system of hydraulic actuator is provided.Kinetic control system comprises: position detection unit is used to detect the current movement position of hydraulic actuator; Pressure sensing cell is used to detect the current oil pressure of hydraulic actuator; Motion control device, this motion control device are the motion control devices among above-mentioned each embodiment.
As the third aspect of the invention, a kind of engineering machinery is provided, comprise hydraulic actuator and the kinetic control system that is used for the motion of hydraulic actuator is controlled, this kinetic control system is the kinetic control system among above-mentioned each embodiment.Preferably, hydraulic actuator comprises jib and the hydraulic jack that is used to drive jib.Preferably, engineering machinery is hoist, high empty wagons or high-altitude fire-fighting truck etc.Owing to adopted the kinetic control system among the present invention, therefore, can make by the workpiece of hydraulic actuator and reliably and accurately move to the precalculated position, prevent the problem that causes hydraulic unit and mechanical part to damage.
As fourth aspect of the present invention, a kind of motion control method of hydraulic actuator is provided.Please refer to Fig. 2, this motion control method comprises: the current movement position and the current oil pressure that obtain hydraulic actuator; When the difference between the extreme sport position of current movement position and hydraulic actuator less than the difference of position setting value and current oil pressure and benchmark oil pressure during greater than pressure set points, the stop motion of control hydraulic actuator.
Like this, can be according to testing result to the current movement position of hydraulic actuator, the workpiece motion (for example drive jib and carry out luffing) of control hydraulic actuator.When the difference between current movement position (for example, distance or angle etc.) and the extreme sport position during, show that hydraulic actuator is near the extreme sport position less than position setting value.After this; Real-time detected oil pressure value and reference oil are compressed into row relatively; If the difference between the two, then shows hydraulic actuator greater than the oil pressure setting value and has moved to extreme sport position when extreme sport position (because, the oil pressure of hydraulic actuator sharply raises).Like this, at first can tentatively judge hydraulic actuator and whether move to zone near the extreme sport position through the difference between position detection unit and the extreme sport position.On this basis, if it is enough big to detect the oil pressure of hydraulic actuator again, be that the decidable hydraulic actuator has moved to the extreme sport position so.At this moment, the may command hydraulic actuator stops action.Like this; With respect to existing technology; Can more accurately confirm the extreme sport position of hydraulic actuator; When avoiding independent use position sensor (for example angle transducer), workpiece can not arrive the precalculated position under the driving of hydraulic actuator, causes the problem that hydraulic unit or mechanical part damage.Simultaneously, when also having avoided independent use limit switch because the mechanical bias of limit switch, cause detecting inaccurate, thereby hydraulic unit or mechanical part are damaged, and cause the problem of security incident.
Preferably, when the difference between the extreme sport position of current movement position and hydraulic actuator during greater than position setting value, the control hydraulic actuator moves with first speed; Otherwise the control hydraulic actuator to be being lower than the second speed operation of first speed, up to the difference of current oil pressure and benchmark oil pressure greater than pressure set points.Therefore; Can overcome in the existing technology can't the real-time perception hydraulic actuator movement position; Thereby the problem of the movement velocity of uncontrollable hydraulic actuator; The high vibration problem of (for example jib etc.) has been avoided because the workpiece that motional inertia causes in collision when having alleviated the extreme sport position.Wherein, first speed and second speed can be constant, also can change, as long as make hydraulic actuator near the extreme sport position time, get final product with lower speed.Like this, can reduce the impact when moving to the extreme sport position, thereby prolong the working life of equipment.
Preferably; According to when the difference between the extreme sport position of current movement position and hydraulic actuator less than the difference of position setting value and current oil pressure and benchmark oil pressure the current movement position during greater than pressure set points, the sensor that is used to detect current movement position is demarcated.When detecting oil pressure generation saltus step; Write down the value of current movement position; And with the output value of this currency renewal with the corresponding position detection unit in authority position; Thereby realized real-time calibration, prevented because the problem that 0 degree drift phenomenon of position detection unit causes detecting reliability to reduce.Adopt oil pressure whether saltus step to take place, further improved the reliability and the accuracy of testing result, also improved the moving equilibrium property of workpiece as the condition that detects.In addition,, therefore, in long-term using process, need not manual work position detection unit is proofreaied and correct, bring convenience to use because present embodiment can be realized the automatic demarcation to position setting value.
Preferably, the benchmark oil pressure is the current oil pressure of difference between the extreme sport position of current movement position and hydraulic actuator hydraulic actuator when equaling position setting value.In this embodiment; Oil pressure when the difference between each current movement position and the extreme sport position is equaled position setting value is as the benchmark oil pressure; Be essentially different according to the method for a certain pressure threshold in definite method of the benchmark oil pressure among use the present invention and the existing technology as extreme sport position judgment foundation; Like this, the present invention can overcome hydraulic system under various operating mode, the problem of the different detection difficult that cause of the oil pressure owing to reaching capacity movement position.
Specifically, as shown in Figure 2, the motion control method among the present invention may further comprise the steps:
Step 1, hydraulic actuator is with the first speed setting in motion;
Step 2 in the process of hydraulic actuator motion, judges at any time whether the difference between its current movement position and the extreme sport position reaches position settings A; If do not reach, then return step 1, otherwise execution in step 3;
Step 3, the current oil pressure value of record hydraulic actuator;
Step 4, the control hydraulic actuator continues motion with second speed; Wherein, second speed is less than first speed;
Step 5 detects oil pressure through the method in the foregoing description whether saltus step takes place, if saltus step does not take place, then returns step 4, otherwise execution in step 6;
Step 6, the stop motion of control hydraulic actuator;
Step 7 is demarcated the sensor that is used to detect current movement position;
Step 8 finishes.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the motion control device of a hydraulic actuator is characterized in that, comprising:
Control unit, said control unit obtain the current movement position of said hydraulic actuator and the current oil pressure of said hydraulic actuator;
When the difference between the extreme sport position of said current movement position and said hydraulic actuator less than the difference of position setting value and said current oil pressure and benchmark oil pressure during greater than pressure set points, said control unit is controlled said hydraulic actuator stop motion.
2. motion control device according to claim 1; It is characterized in that; When the difference between the extreme sport position of said current movement position and said hydraulic actuator during greater than said position setting value, said control unit is controlled said hydraulic actuator and is moved with first speed; Otherwise said control unit is controlled said hydraulic actuator being lower than the second speed operation of said first speed, up to the difference of said current oil pressure and said benchmark oil pressure greater than said pressure set points.
3. motion control device according to claim 1; It is characterized in that; When the difference between the extreme sport position of said current movement position and said hydraulic actuator less than the difference of said position setting value and said current oil pressure and said benchmark oil pressure during greater than said pressure set points, said control unit is demarcated the position detection unit that is used to detect said current movement position according to the said current movement position of this moment.
4. according to each described motion control device among the claim 1-3; It is characterized in that the current oil pressure of said hydraulic actuator when the difference between the extreme sport position that said benchmark oil pressure is said current movement position and said hydraulic actuator equals said position setting value.
5. the kinetic control system of a hydraulic actuator is characterized in that, comprising:
Position detection unit is used to detect the current movement position of said hydraulic actuator;
Pressure sensing cell is used to detect the current oil pressure of said hydraulic actuator;
Motion control device, said motion control device are each described motion control devices among the claim 1-4.
6. an engineering machinery comprises hydraulic actuator and the kinetic control system that is used for the motion of said hydraulic actuator is controlled, and it is characterized in that said kinetic control system is the kinetic control system described in the claim 5.
7. the motion control method of a hydraulic actuator is characterized in that, comprising:
Obtain the current movement position and the current oil pressure of said hydraulic actuator;
When the difference between the extreme sport position of said current movement position and said hydraulic actuator during greater than pressure set points, is controlled said hydraulic actuator stop motion less than the difference of position setting value and said current oil pressure and benchmark oil pressure.
8. motion control method according to claim 7; It is characterized in that; When the difference between the extreme sport position of said current movement position and said hydraulic actuator during, control said hydraulic actuator and move with first speed greater than said position setting value; Otherwise, control said hydraulic actuator being lower than the second speed operation of said first speed, up to the difference of said current oil pressure and said benchmark oil pressure greater than said pressure set points.
9. motion control method according to claim 7; It is characterized in that; According to when the difference between the extreme sport position of said current movement position and said hydraulic actuator less than the difference of said position setting value and said current oil pressure and said benchmark oil pressure the said current movement position during greater than said pressure set points, the sensor that is used to detect said current movement position is demarcated.
10. according to each described motion control method among the claim 7-9; It is characterized in that the current oil pressure of said hydraulic actuator when the difference between the extreme sport position that said benchmark oil pressure is said current movement position and said hydraulic actuator equals said position setting value.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210065242.XA CN102588394B (en) | 2012-03-13 | 2012-03-13 | Movement control device, method, system and engineering machinery of hydraulic actuating mechanism |
| PCT/CN2012/081696 WO2013135039A1 (en) | 2012-03-13 | 2012-09-20 | Movement control device, method, system and engineering machinery of hydraulic actuating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210065242.XA CN102588394B (en) | 2012-03-13 | 2012-03-13 | Movement control device, method, system and engineering machinery of hydraulic actuating mechanism |
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| Publication Number | Publication Date |
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| CN102588394A true CN102588394A (en) | 2012-07-18 |
| CN102588394B CN102588394B (en) | 2015-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210065242.XA Active CN102588394B (en) | 2012-03-13 | 2012-03-13 | Movement control device, method, system and engineering machinery of hydraulic actuating mechanism |
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| CN (1) | CN102588394B (en) |
| WO (1) | WO2013135039A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013135039A1 (en) * | 2012-03-13 | 2013-09-19 | 中联重科股份有限公司 | Movement control device, method, system and engineering machinery of hydraulic actuating mechanism |
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| JPH03223504A (en) * | 1990-01-29 | 1991-10-02 | Daikin Ind Ltd | Position control mechanism of actuator |
| JPH04203602A (en) * | 1990-11-30 | 1992-07-24 | Daikin Ind Ltd | Control device for fluid actuator |
| CN1139403A (en) * | 1994-11-29 | 1997-01-01 | 株式会社小松制作所 | Control method of sliding block in hydraulic press |
| JPH10105247A (en) * | 1996-09-30 | 1998-04-24 | Fanuc Ltd | Overshoot preventing method for servomotor |
| CN1714965A (en) * | 2004-06-28 | 2006-01-04 | 发那科株式会社 | Servo motor control unit for press-forming machine |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS57192603A (en) * | 1981-05-23 | 1982-11-26 | Shoketsu Kinzoku Kogyo Co Ltd | Fluid pressure cylinder control device |
| DE10338551B3 (en) * | 2003-08-19 | 2005-03-17 | Cts Fahrzeug-Dachsysteme Gmbh | Hydraulic drive system for roofs of vehicles |
| CN101749301A (en) * | 2008-12-18 | 2010-06-23 | 中集车辆（集团）有限公司 | Hydraulic cylinder device and hydraulic cylinder behavior control system with same |
| JP4563512B2 (en) * | 2009-01-13 | 2010-10-13 | パナソニック株式会社 | Control device and control method for elastic actuator, and control program |
| CN102588394B (en) * | 2012-03-13 | 2015-06-24 | 中联重科股份有限公司 | Movement control device, method, system and engineering machinery of hydraulic actuating mechanism |
-
2012
- 2012-03-13 CN CN201210065242.XA patent/CN102588394B/en active Active
- 2012-09-20 WO PCT/CN2012/081696 patent/WO2013135039A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03223504A (en) * | 1990-01-29 | 1991-10-02 | Daikin Ind Ltd | Position control mechanism of actuator |
| JPH04203602A (en) * | 1990-11-30 | 1992-07-24 | Daikin Ind Ltd | Control device for fluid actuator |
| CN1139403A (en) * | 1994-11-29 | 1997-01-01 | 株式会社小松制作所 | Control method of sliding block in hydraulic press |
| JPH10105247A (en) * | 1996-09-30 | 1998-04-24 | Fanuc Ltd | Overshoot preventing method for servomotor |
| CN1714965A (en) * | 2004-06-28 | 2006-01-04 | 发那科株式会社 | Servo motor control unit for press-forming machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013135039A1 (en) * | 2012-03-13 | 2013-09-19 | 中联重科股份有限公司 | Movement control device, method, system and engineering machinery of hydraulic actuating mechanism |
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| Publication number | Publication date |
|---|---|
| CN102588394B (en) | 2015-06-24 |
| WO2013135039A1 (en) | 2013-09-19 |
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