CN109944838A - A kind of online adjusting zero method of servo valve mechanical zero - Google Patents
A kind of online adjusting zero method of servo valve mechanical zero Download PDFInfo
- Publication number
- CN109944838A CN109944838A CN201910281824.3A CN201910281824A CN109944838A CN 109944838 A CN109944838 A CN 109944838A CN 201910281824 A CN201910281824 A CN 201910281824A CN 109944838 A CN109944838 A CN 109944838A
- Authority
- CN
- China
- Prior art keywords
- servo valve
- zero
- hydraulic cylinder
- adjustment bolt
- speed
- 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.)
- Granted
Links
Abstract
The present invention relates to instrument and meter adjustment method technical field more particularly to a kind of online adjusting zero methods of servo valve mechanical zero.Normal starting pressure oil-source；It closes the hydraulic cylinder cylinder rod moving direction of observation displacement sensor feedback under servo valve input control signal, hydraulic cylinder light condition and records movement speed；Servo valve mechanical zero adjustment bolt is adjusted, reduces the movement speed of hydraulic cylinder in this direction until speed close to zero and records adjustment bolt position a and speed Va；When hydraulic cylinder is unidirectionally moved to stroke end, manual operation or given control signal operate hydraulic cylinder and are moved to position in stroke to servo valve；Continue to adjust servo valve mechanical zero adjustment bolt to the slight reverse movement of hydraulic cylinder appearance, as hydraulic cylinder movement speed Vb=VaWhen, record adjustment bolt position b；The interposition of servo valve mechanical zero adjustment bolt to position a and position b is adjusted again.The present invention quickly judges, is easy to operate, being easily achieved, and meets required precision.
Description
Technical field
The present invention relates to instrument and meter adjustment method technical field more particularly to a kind of two-stage servos of no electric position feedback
The online adjusting zero method of valve mechanical zero.
Background technique
Servo valve is normally applied the critical positions of control pressurer system, is the pass of equipment stable operation, final product quality control
Key influences link.Usual cold rolling mill continuous annealing unit edging correction, centering rectification hydraulic servo control system use a kind of no current potential
Set the Dual Injector Baffle formula servo valve of feedback, external amplifier, unit control loop of rectifying a deviation individually during running frequently is rectified a deviation vibration
It is dynamic that corresponding servo valve mechanical zero is caused frequently to deviate.
Easily lead to the unidirectional sideslip of strip during startup and shutdown of units vehicle, automatically giving, which will affect under the electrical signal conditioning of biasing, entangles
Inclined ability.General servo valve zeroing need to carry out on experimental bench, need the equipment and instrument of profession；It can not work normally simultaneously
Servo valve must replace it is offline, then whole system also want the long period malfunction elimination and stop production maintenance, seriously affect production
It goes on smoothly.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides one kind and can quickly judge, is easy to operate, being easily achieved, together
The acceptable online adjusting zero method of servo valve mechanical zero of Shi Jingdu.
In order to achieve the above object, the present invention is implemented with the following technical solutions.
A kind of online adjusting zero method of servo valve mechanical zero, specifically comprises the following steps:
1, start test loop, oil supply source simultaneously guarantees normal operation；
2, the hydraulic cylinder of observation displacement sensor feedback under servo valve input control signal, hydraulic cylinder light condition is closed
Bar moving direction, definition moving direction are A；
3, servo valve mechanical zero adjustment bolt is finely tuned, reduces the movement speed of cylinder rod in direction a until feedback speed
Close to zero；Direction Ra, the present position La and cylinder rod movement speed Va of record rotation zero-bit adjustment bolt；
4, when hydraulic cylinder is run to stroke end, manual operation or given control signal arrive servo valve, operation hydraulic cylinder
It is moved to position in stroke；
5, it continues on the direction and adjusts servo valve mechanical zero adjustment bolt, until cylinder rod moves backward, define
Moving direction is B；
6, servo valve mechanical zero adjustment bolt is reversely finely tuned, when cylinder rod movement speed Vb is reduced to Vb-Va≤0.5Va
When, direction Rb, the present position La and cylinder rod movement speed Vb of record rotation zero-bit adjustment bolt；
7, the interposition of servo valve mechanical zero adjustment bolt to position La and position Lb is adjusted again；
8, it is manually operated or given control signal operates hydraulic cylinder and move a certain distance to servo valve, and be defined as direction
C closes servo valve control signal, records cylinder rod movement speed Vc；
9, it is manually operated or given control signal operates hydraulic cylinder and move backward certain distance to servo valve, and be defined as
Direction D closes servo valve control signal, records cylinder rod movement speed Vd；
10, zeroing terminates decision condition:
In servo valve technology parameter, stagnant ring is denoted as Hy%, and resolution ratio is denoted as Th%；
For test loop under conditions of servo valve inputs rated signal, the unloaded specified movement speed of hydraulic cylinder is denoted as Ve；
Servo valve actual measurement zero bias percentage is denoted as Bi% after zeroing, defines Bi%=| Vc-Vd |/2Ve；
Zero bias set up precision prescribed and are denoted as Be%；
1), as speed Vc=Vd=0, the process of returning to zero terminates servo valve mechanical zero online, can assert that servo valve is not deposited
In zero bias；
2), when speed Vc, Vd is contrary, one of them can be zero, if 0≤Bi≤Th, servo valve mechanical zero exists
Line zeroing process terminates, and can assert servo valve, there is no zero bias；
3), when speed Vc, Vd is contrary, one of them can be zero, if Th≤Bi≤Be, servo valve mechanical zero exists
Line zeroing process terminates, and servo valve is there are zero bias but within the scope of acceptable accuracy；
4) mobile according to cylinder rod maximum, when speed Vc, Vd is contrary, but when Bi > Be or identical two directional velocities
The direction of speed refers to and repeats step 3 or step 6, finely tunes servo valve mechanical zero adjustment bolt, and repeat step 8~10.
Compared with the conventional method, the beneficial effects of the present invention are:
It can quickly judge that servo valve whether there is zero bias online, and realize watching under certain precision conditions by simple operations
Valve mechanical zero is taken to return to zero online.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
In figure: 1.-pressure oil-source 2.-fuel tank 3.-servo valve 4.-hydraulic cylinder 5.-displacement sensor
Specific embodiment
A kind of online adjusting zero method of servo valve mechanical zero, specifically comprises the following steps:
1, start test loop, oil supply source simultaneously guarantees normal operation；
2, the hydraulic cylinder of observation displacement sensor feedback under servo valve input control signal, hydraulic cylinder light condition is closed
Bar moving direction, definition moving direction are A；
3, servo valve mechanical zero adjustment bolt is finely tuned, reduces the movement speed of cylinder rod in direction a until feedback speed
Close to zero；Direction Ra, the present position La and cylinder rod movement speed Va of record rotation zero-bit adjustment bolt are (hydraulic with double rods
For cylinder, other types needs are calculated as flow velocity according to hydraulic cylinder structure size and are uniformly determined using flow velocity, similarly hereinafter)；
4, when hydraulic cylinder is run to stroke end, manual operation or given control signal arrive servo valve, operation hydraulic cylinder
It is moved to position in stroke；
5, it continues on the direction and adjusts servo valve mechanical zero adjustment bolt, until cylinder rod moves backward, define
Moving direction is B；
6, servo valve mechanical zero adjustment bolt is reversely finely tuned, when cylinder rod movement speed Vb is reduced to Vb-Va≤0.5Va
When, direction Rb, the present position La and cylinder rod movement speed Vb of record rotation zero-bit adjustment bolt；
7, the interposition of servo valve mechanical zero adjustment bolt to position La and position Lb is adjusted again；
8, it is manually operated or given control signal operates hydraulic cylinder and move a certain distance to servo valve, and be defined as direction
C closes servo valve control signal, records cylinder rod movement speed Vc；
9, it is manually operated or given control signal operates hydraulic cylinder and move backward certain distance to servo valve, and be defined as
Direction D closes servo valve control signal, records cylinder rod movement speed Vd；
10, zeroing terminates decision condition:
In servo valve technology parameter, stagnant ring is denoted as Hy%, and resolution ratio is denoted as Th%；
For test loop under conditions of servo valve inputs rated signal, the unloaded specified movement speed of hydraulic cylinder is denoted as Ve；
Servo valve actual measurement zero bias percentage is denoted as Bi% after zeroing, defines Bi%=| Vc-Vd |/2Ve；
Zero bias set up precision prescribed and are denoted as Be%；
1), as speed Vc=Vd=0, the process of returning to zero terminates servo valve mechanical zero online, can assert that servo valve is not deposited
In zero bias；
2), when speed Vc, Vd is contrary, one of them can be zero, if 0≤Bi≤Th, servo valve mechanical zero exists
Line zeroing process terminates, and can assert servo valve, there is no zero bias；
3), when speed Vc, Vd is contrary, one of them can be zero, if Th≤Bi≤Be, servo valve mechanical zero exists
Line zeroing process terminates, and servo valve is there are zero bias but within the scope of acceptable accuracy；
4) mobile according to cylinder rod maximum, when speed Vc, Vd is contrary, but when Bi > Be or identical two directional velocities
The direction of speed refers to and repeats step 3 or step 6, finely tunes servo valve mechanical zero adjustment bolt, and repeat step 8~10.
Embodiment:
As shown in Figure 1, test loop uses following hydraulic original part:
Servo valve: MOOG G761-3001, metered flow 4L/min, stagnant ring Hy%=3%, resolution ratio Th%=0.5%
Hydraulic cylinder: double outlet-rod hydraulic cylinder 80/56-158,
Displacement sensor: MTS RHM0250MD701S1G110,10 μm of resolution ratio
Mechanical zero returns to zero online, and detailed process is as follows:
1,1. cracking pressure oil sources, and ensures that charge oil pressure P reaches system design values, and 2. pipeline is smooth for oil return to oil return box
It is logical；
2, servo valve 3. plug is pulled out, the hydraulic cylinder hydraulic cylinder that 4. 5. observation displacement sensor is fed back under light condition 4. cylinder
Bar moving direction (test case is to be moved to the left), and it is denoted as direction A；
Cylinder rod movement speed measurement method: the specified cylinder rod displacement variable for observing 5. displacement sensor is fed back is 30mm
When, time T measured by stopwatch, cylinder rod movement speed is V=30/T.
3, servo valve 3. mechanical zero adjustment bolt (test case is rotation counterclockwise) is finely tuned, reduces hydraulic cylinder 4. in side
Movement speed (being moved to the left) on A；Direction Ra (counterclockwise), the present position La of record rotation zero-bit adjustment bolt (are surveyed
Try example using allen wrench made in Great Britain, similarly hereinafter.The long end of spanner is flapped toward 75 ° of upper left side) and cylinder rod movement speed Va=
1.339mm/s (mobile 30mm time-consuming 22.4s)；
4, continue rotation counterclockwise and adjust servo valve 3. mechanical zero adjustment bolt, until displacement sensor 5. feedback hydraulic
4. there is reverse movement (test case is to move right) to cylinder in cylinder rod, and record moving direction is B；
5, servo valve 3. mechanical zero adjustment bolt (test case is to rotate clockwise) is reversely finely tuned, reduces hydraulic cylinder 4.
Movement speed (moving right) in directionb；The repeatedly time used in the mobile 30mm of measurement cylinder rod, when direction cylinder rod is mobile |
Vb-Va | when≤0.5Va, (the long end of spanner is flapped toward by direction Rb (clockwise), the present position Lb of record rotation zero-bit adjustment bolt
60 ° of upper right side) and cylinder rod movement speed Vb=1.657mm/s (mobile 30mm time-consuming 18.1s)；
6, the interposition for adjusting servo valve 3. mechanical zero adjustment bolt to position La and position Lb again (is put at the long end of spanner
To 7.5 ° of upper right side) adjustment bolt is locked afterwards；
7,4. if hydraulic cylinder is run to stroke end, servo valve 3. plug is plugged, the button operated on control panel comes
4. cylinder rod is moved to position in stroke to given control signal control hydraulic cylinder；
8, servo valve 3. plug, operation button input control signal are plugged, 4. control hydraulic cylinder is moved to the left a distance
(5mm or so, and be defined as direction C) pulls out servo valve and 3. records cylinder rod moving direction after plug (this test is Xiang Zuoyi
It is dynamic) and speed Vc1=0.865mm/s (mobile 30mm time-consuming 34.7s)；
9, servo valve 3. plug, operation button input control signal are plugged again, 4. control hydraulic cylinder moves right one section
Distance (5mm or so, and be defined as direction D), pulls out servo valve 3. plug, and recording cylinder rod moving direction again, (this test is
Move right) and speed Vd1=0.448mm/s (mobile 30mm time-consuming 66.9s)；
10, return to zero result judgement:
Rated flow of servovalve 4L/min used in test loop, stagnant ring Hy%=3%, resolution ratio Th%=0.5%, it is double go out
Bar hydraulic cylinder size 80/56-158.
Unloaded specified movement speed Ve=4L/min/ [3.14/4 (80mm^2-56mm^2)]=26mm/s of hydraulic cylinder.
Servo valve surveys zero bias percentage Bi after zeroing1%=| Vc1-Vd1|/2Ve=| 0.865-0.448 |/2/26=
0.8%；
(1), when it is Be > Hy/2 that zero bias, which set up precision prescribed Be range, aforementioned zeroing process can be reduced to Vc, Vd speed
It spends contrary；
(2), setting up precision prescribed Be range when zero bias is Bi1When≤Be≤Hy/2, this debugging, which meets zeroing, to be terminated to sentence
Fixed condition (3) can assert that the process of returning to zero terminates the servo valve online, and servo valve is there are zero bias but within the scope of acceptable accuracy；
(4), setting up precision prescribed Be range when zero bias is Be < Bi1When, this zeroing is not finished.
According to aforementioned test result Vc1> Vd1And Vc1Direction needs to continue fine tuning zero counterclockwise to the left, with reference to step 3
Position adjustment bolt, then repeats step 8~10 again.Test result is as follows again: cylinder rod is moved to the left Vc2=0.779mm/s
(mobile 30mm time-consuming 38.5s), cylinder rod move right Vd2=0.498mm/s (mobile 30mm time-consuming 60.3s), watching after zeroing
Take valve actual measurement zero bias percentage Bi2%=| Vc2-Vd2|/2Ve=| 0.865-0.448 |/2/26=0.54%；
Zeroing result determines again:
(5), setting up precision prescribed Be range when zero bias is Bi2≤ Be < Bi1When, such as Be=0.6%, this debugging is completely
Foot zeroing terminates decision condition (3), can assert that the process of returning to zero terminates the servo valve online, and servo valve is there are zero bias but acceptable
In accuracy rating；
(6), setting up precision prescribed Be range when zero bias is Th≤Be < Bi2When, such as Be=0.5%, this zeroing is still
It is not finished, it is also necessary to continue above-mentioned zeroing step until Bi≤Be；
(7), when it is Be < Th that zero bias, which set up precision prescribed Be range, such as Be=0.3%, this zeroing are not tied yet
Beam, it is also necessary to continue above-mentioned zeroing step and carry out zeroing result judgement according to Be=Th=0.5%.
Displacement sensor resolution ratio and the sampled distance that repeatable accuracy is higher, record cylinder rod is mobile are longer, online zeroing essence
It spends higher.
The present invention can quickly judge that servo valve whether there is zero bias online, and realize certain precision conditions by simple operations
Under servo valve mechanical zero return to zero online.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (1)
1. a kind of online adjusting zero method of servo valve mechanical zero, which is characterized in that specifically comprise the following steps:
1, start test loop, oil supply source simultaneously guarantees normal operation；
2, the hydraulic cylinder cylinder rod for closing observation displacement sensor feedback under servo valve input control signal, hydraulic cylinder light condition is moved
Dynamic direction, definition moving direction are A；
3, servo valve mechanical zero adjustment bolt is finely tuned, reduces the movement speed of cylinder rod in direction a until feedback speed is close
In zero；Direction Ra, the present position La and cylinder rod movement speed Va of record rotation zero-bit adjustment bolt；
4, when hydraulic cylinder is run to stroke end, manual operation or given control signal arrive servo valve, operation hydraulic cylinder movement
The position into stroke；
5, it continues on the direction and adjusts servo valve mechanical zero adjustment bolt, until cylinder rod moves backward, definition movement
Direction is B；
6, reversely fine tuning servo valve mechanical zero adjustment bolt is remembered when cylinder rod movement speed Vb is reduced to Vb-Va≤0.5Va
Direction Rb, the present position La and cylinder rod movement speed Vb of record rotation zero-bit adjustment bolt；
7, the interposition of servo valve mechanical zero adjustment bolt to position La and position Lb is adjusted again；
8, it is manually operated or given control signal operates hydraulic cylinder and move a certain distance to servo valve, and be defined as direction C, close
Servo valve control signal is closed, cylinder rod movement speed Vc is recorded；
9, it is manually operated or given control signal operates hydraulic cylinder and move backward certain distance to servo valve, and be defined as direction
D closes servo valve control signal, records cylinder rod movement speed Vd；
10, zeroing terminates decision condition:
In servo valve technology parameter, stagnant ring is denoted as Hy%, and resolution ratio is denoted as Th%；
For test loop under conditions of servo valve inputs rated signal, the unloaded specified movement speed of hydraulic cylinder is denoted as Ve；
Servo valve actual measurement zero bias percentage is denoted as Bi% after zeroing, defines Bi%=| Vc-Vd |/2Ve；
Zero bias set up precision prescribed and are denoted as Be%；
1), as speed Vc=Vd=0, the process of returning to zero terminates servo valve mechanical zero online, and can assert servo valve, there is no zero
Partially；
2), when speed Vc, Vd is contrary, one of them can be zero, if 0≤Bi≤Th, servo valve mechanical zero is adjusted online
Zero process terminates, and can assert servo valve, there is no zero bias；
3), when speed Vc, Vd is contrary, one of them can be zero, if Th≤Bi≤Be, servo valve mechanical zero is adjusted online
Zero process terminates, and servo valve is there are zero bias but within the scope of acceptable accuracy；
4), when speed Vc, Vd is contrary, but when Bi > Be or identical two directional velocities, according to cylinder rod maximum movement speed
Direction refer to and repeat step 3 or step 6, finely tune servo valve mechanical zero adjustment bolt, and repeat step 8~10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910281824.3A CN109944838B (en) | 2019-04-09 | 2019-04-09 | Servo valve mechanical zero on-line zero setting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910281824.3A CN109944838B (en) | 2019-04-09 | 2019-04-09 | Servo valve mechanical zero on-line zero setting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109944838A true CN109944838A (en) | 2019-06-28 |
| CN109944838B CN109944838B (en) | 2020-05-29 |
Family
ID=67014160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910281824.3A Active CN109944838B (en) | 2019-04-09 | 2019-04-09 | Servo valve mechanical zero on-line zero setting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109944838B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113446287A (en) * | 2021-06-23 | 2021-09-28 | 河南航天液压气动技术有限公司 | Machine learning algorithm-based 2D reversing valve automatic zero setting system and method |
| CN114183334A (en) * | 2021-11-03 | 2022-03-15 | 内蒙古北方重工业集团有限公司 | Method for suppressing zero drift in debugging of amplification plate of radial plunger pump |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09280209A (en) * | 1996-04-12 | 1997-10-28 | Mitsubishi Heavy Ind Ltd | Zero point adjustment device for servo valve |
| CN101482131A (en) * | 2008-01-08 | 2009-07-15 | 鞍钢股份有限公司 | On-line equalization internal leaking electric zero-adjusting method of servo valve |
| JP2009275917A (en) * | 2009-08-24 | 2009-11-26 | Shimadzu Corp | Air cylinder driving device |
| CN102297282A (en) * | 2010-06-25 | 2011-12-28 | 鞍钢股份有限公司 | Online zeroing method for proportional valve |
| CN104423320A (en) * | 2013-09-10 | 2015-03-18 | 重庆长安工业(集团)有限责任公司 | Automatic zero setting method of servo control system |
| CN104723170A (en) * | 2015-03-31 | 2015-06-24 | 烟台环球机床附件集团有限公司 | Zero-position searching device for numerical control turret head and zero-position searching method of zero-position searching device |
| CN104763698A (en) * | 2014-01-08 | 2015-07-08 | 佛山市恒力泰机械有限公司 | Automatic adjusting method for valve element zero position of moving beam proportional valve of ceramic brick machine |
-
2019
- 2019-04-09 CN CN201910281824.3A patent/CN109944838B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09280209A (en) * | 1996-04-12 | 1997-10-28 | Mitsubishi Heavy Ind Ltd | Zero point adjustment device for servo valve |
| CN101482131A (en) * | 2008-01-08 | 2009-07-15 | 鞍钢股份有限公司 | On-line equalization internal leaking electric zero-adjusting method of servo valve |
| JP2009275917A (en) * | 2009-08-24 | 2009-11-26 | Shimadzu Corp | Air cylinder driving device |
| CN102297282A (en) * | 2010-06-25 | 2011-12-28 | 鞍钢股份有限公司 | Online zeroing method for proportional valve |
| CN104423320A (en) * | 2013-09-10 | 2015-03-18 | 重庆长安工业(集团)有限责任公司 | Automatic zero setting method of servo control system |
| CN104763698A (en) * | 2014-01-08 | 2015-07-08 | 佛山市恒力泰机械有限公司 | Automatic adjusting method for valve element zero position of moving beam proportional valve of ceramic brick machine |
| CN104723170A (en) * | 2015-03-31 | 2015-06-24 | 烟台环球机床附件集团有限公司 | Zero-position searching device for numerical control turret head and zero-position searching method of zero-position searching device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113446287A (en) * | 2021-06-23 | 2021-09-28 | 河南航天液压气动技术有限公司 | Machine learning algorithm-based 2D reversing valve automatic zero setting system and method |
| CN113446287B (en) * | 2021-06-23 | 2024-01-05 | 河南航天液压气动技术有限公司 | Automatic zeroing system and method for 2D reversing valve based on machine learning algorithm |
| CN114183334A (en) * | 2021-11-03 | 2022-03-15 | 内蒙古北方重工业集团有限公司 | Method for suppressing zero drift in debugging of amplification plate of radial plunger pump |
| CN114183334B (en) * | 2021-11-03 | 2024-03-29 | 内蒙古北方重工业集团有限公司 | Method for debugging and inhibiting zero drift of radial plunger pump amplification plate |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109944838B (en) | 2020-05-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106774468B (en) | Flow rate controlling method | |
| US10935468B2 (en) | Compact testing module, automated system and approach for hydraulic damper valve experiments | |
| CN109944838A (en) | A kind of online adjusting zero method of servo valve mechanical zero | |
| CN104880911B (en) | A kind of photo-etching machine work-piece platform and its vertical position initial method | |
| CA2562534A1 (en) | Panel bending machine | |
| CN107725509B (en) | Quick position control system and method based on high-speed switch valve air pressure balance regulating strategy | |
| CN105032947B (en) | Electric and hydraulic combined pressing type rapid positioning method for rolling mill | |
| CN105127210A (en) | Plate strip rolling thickness control method based on mill spring characteristic curve | |
| CN103394441A (en) | Roll gap regulating system and control flow | |
| CN101773947A (en) | Digital hydraulic extruder speed control system and method | |
| CN102380569A (en) | Control method for setting constant speed, constant strain and variable strain process pressing curve | |
| CN111216162A (en) | Constant force floating device applied to industrial robot end | |
| CN110077028B (en) | Full-closed-loop nonlinear predictive control method and system for servo press | |
| CN100494698C (en) | Dynamic compensation hydraulic pressure servo valve null shift method | |
| CN112462598B (en) | Force control method for flexible polishing end effector | |
| CN102527740B (en) | Straight-pull cold-rolling mill tension control method based on speed feedforward | |
| CN109623590A (en) | A kind of accurate power control grinding and polishing apparatus of full digital Coupled Rigid-flexible and control method | |
| CN102829719A (en) | Target motion characteristic measurement method for CCD (charge coupled device) tracking system | |
| CN102529148B (en) | Method for controlling bottom dead center of slider of oil press | |
| CN111796511A (en) | Wavelet neural network PID (proportion integration differentiation) online control method and system of hydraulic actuator | |
| CN114439805B (en) | Leveling system, leveling method and engineering machinery | |
| JPS60257997A (en) | Automatic correcting device for slide position in press | |
| CN111366368A (en) | Automatic thrust loading and calibrating system for aircraft engine test bed and automatic control method | |
| CN114439804B (en) | Leveling system, leveling method and engineering machinery | |
| CN109723699B (en) | Device and method for testing front-stage flow coefficient of nozzle baffle servo valve |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |