JPH0567801B2 - - Google Patents
Info
- Publication number
- JPH0567801B2 JPH0567801B2 JP63239435A JP23943588A JPH0567801B2 JP H0567801 B2 JPH0567801 B2 JP H0567801B2 JP 63239435 A JP63239435 A JP 63239435A JP 23943588 A JP23943588 A JP 23943588A JP H0567801 B2 JPH0567801 B2 JP H0567801B2
- Authority
- JP
- Japan
- Prior art keywords
- pressure
- speed
- signal
- control
- command signal
- 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
Links
- 238000001514 detection method Methods 0.000 claims description 33
- 239000012530 fluid Substances 0.000 claims description 25
- 239000011347 resin Substances 0.000 description 8
- 229920005989 resin Polymers 0.000 description 8
- 238000002347 injection Methods 0.000 description 5
- 239000007924 injection Substances 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000001746 injection moulding Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/82—Hydraulic or pneumatic circuits
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Description
【発明の詳細な説明】
〈産業上の利用分野〉
本発明は、流体アクチユエータの作動速度と作
動圧力を１つの制御弁と２つのフイードバツク制
御ループによつて切り換え制御する流体アクチユ
エータの制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a fluid actuator control device that switches and controls the operating speed and operating pressure of a fluid actuator using one control valve and two feedback control loops.
〈従来の技術〉
従来、この種の流体アクチユエータの制御装置
として、例えば第３図に示すようなものが知られ
ている。この制御装置は、油圧源１から射出成形
機等の油圧シリンダ２に至る圧力ライン３に、サ
ーボ弁４と圧力センサ５を介設するとともに、圧
力用減算器６で圧力指令信号と上記圧力センサ５
からの圧力検出信号との差をとり、この偏差信号
に圧力用補償回路７で補償を施して圧力制御信号
とする一方、速度用減算器８で速度指令信号と上
記油圧シリンダ２に設けた速度センサ１０からの
速度検出信号との差をとり、この偏差信号に速度
用補償回路９で補償を施して速度制御信号として
いる。そして、図示しない金型への溶融樹脂（負
荷21）射出時には、油圧シリンダの特定位置で動
作するリミツトスイツチやタイマによつて、制御
切換スイツチ２２を速度用補償回路９側に切り換
え、上記速度指令信号をサーボ弁４のソレノイド
４ａに供給して、射出速度の制御を行なう一方、
射出後の樹脂凝固時には、制御切換スイツチ２２
を圧力用補償回路７側に切り換え、上記圧力指令
信号により同様に射出圧力の制御を行なう。<Prior Art> Conventionally, as a control device for this type of fluid actuator, one shown in FIG. 3, for example, is known. This control device has a servo valve 4 and a pressure sensor 5 interposed in a pressure line 3 leading from a hydraulic source 1 to a hydraulic cylinder 2 of an injection molding machine, etc., and a pressure subtracter 6 that outputs a pressure command signal to the pressure sensor. 5
The pressure compensation circuit 7 compensates this deviation signal to obtain a pressure control signal, while the speed subtractor 8 calculates the difference between the speed command signal and the speed set in the hydraulic cylinder 2. The difference from the speed detection signal from the sensor 10 is taken, and this deviation signal is compensated by the speed compensation circuit 9 to be used as a speed control signal. When injecting molten resin (load 21) into a mold (not shown), the control changeover switch 22 is switched to the speed compensation circuit 9 side by a limit switch or timer that operates at a specific position of the hydraulic cylinder, and the speed command signal is is supplied to the solenoid 4a of the servo valve 4 to control the injection speed, while
When the resin solidifies after injection, the control changeover switch 22
is switched to the pressure compensation circuit 7 side, and the injection pressure is similarly controlled using the pressure command signal.
〈発明が解決しようとする課題〉
ところが、上記従来の油圧シリンダの制御装置
は、制御切換スイツチ２２で速度制御信号または
圧力制御信号のいずれか一方を選択し、これをサ
ーボ弁４に出力して油圧シリンダ２を速度または
圧力制御するものであるため、制御量が速度であ
る間は圧力が、逆に制御量が圧力である間は速度
が夫々制御できない。そのため、速度制御中の溶
融樹脂射出時に、ピストンロツドが不慮の原因で
金型等の障害物に衝突した場合、圧力制御が働か
ないため押圧力が急激に増大し、金型やピストン
ロツドを破損してしまうという問題がある。ま
た、圧力制御中の樹脂凝固時に、樹脂の負荷が軽
い場合、速度制御が働かないためピストンロツド
が暴走して、成形品にバリ等の欠陥が生じたり、
成形機を傷めるという問題がある。<Problem to be Solved by the Invention> However, the conventional hydraulic cylinder control device described above selects either the speed control signal or the pressure control signal with the control changeover switch 22 and outputs it to the servo valve 4. Since the hydraulic cylinder 2 is controlled for speed or pressure, the pressure cannot be controlled while the control amount is speed, and conversely, the speed cannot be controlled while the control amount is pressure. Therefore, if the piston rod accidentally collides with an obstacle such as a mold during injection of molten resin during speed control, the pressure control will not work and the pressing force will increase rapidly, causing damage to the mold and piston rod. There is a problem with putting it away. Additionally, if the load on the resin is light when the resin solidifies during pressure control, the piston rod will run out of control because the speed control will not work, causing defects such as burrs on the molded product.
There is a problem that it damages the molding machine.
そこで本発明の目的は、速度制御時に圧力検出
信号を、圧力制御時に速度検出信号を監視するこ
とにより、流体アクチユエータの作動圧力や作動
速度の異常な上昇を防止して、流体アクチユエー
タの破損等をなくすことができる流体アクチユエ
ータの制御装置を提供することである。 Therefore, an object of the present invention is to prevent abnormal increases in the operating pressure and operating speed of the fluid actuator by monitoring the pressure detection signal during speed control and the speed detection signal during pressure control, thereby preventing damage to the fluid actuator. An object of the present invention is to provide a control device for a fluid actuator that can be eliminated.
〈課題を解決するための手段〉
上記目的を達成するため、本発明の流体アクチ
ユエータの制御装置は、第１図に例示するよう
に、比較手段８によつて流体アクチユエータ２の
速度検出器１０からの速度検出信号Vsを速度指
令信号Vrから減算して速度制御信号を出力する
一方、比較手段６によつて上記流体アクチユエー
タ２の圧力検出器５からの圧力検出信号Psを圧力
指令信号Prから減算して圧力制御信号を出力し、
上記両制御信号のいずれか一方をスイツチ手段１
１で選択して上記流体アクチユエータ２の圧力ラ
イン３に介設された制御弁４に出力するものにお
いて、上記速度制御信号が選択された速度制御時
に、上記圧力指令信号Prと圧力検出信号Psを比較
して、圧力検出信号Psが圧力指令信号Prよりも大
きいとき上記スイツチ手段１１を圧力制御信号側
に切り換える圧力信号比較手段１３と、上記圧力
制御信号が選択された圧力制御時に、上記速度指
令信号Vrと速度検出信号Vsを比較して、速度検
出信号Vsが速度指令信号Vrよりも大きいとき上
記スイツチ手段１１を速度制御信号側に切り換え
る速度信号比較手段１２とのうち少なくとも一方
を備えたことを特徴とする。<Means for Solving the Problems> In order to achieve the above object, the fluid actuator control device of the present invention, as illustrated in FIG. The speed detection signal V s of the fluid actuator 2 is subtracted from the speed command signal V r to output a speed control signal, while the comparison means 6 converts the pressure detection signal P s from the pressure detector 5 of the fluid actuator 2 into a pressure command signal. Outputs the pressure control signal by subtracting it from P r ,
Switching means 1 for either one of the above two control signals
1 and output to the control valve 4 interposed in the pressure line 3 of the fluid actuator 2, when the speed control signal is selected, the pressure command signal P r and the pressure detection signal P s , and when the pressure detection signal P s is larger than the pressure command signal P r , the pressure signal comparison means 13 switches the switch means 11 to the pressure control signal side; , a speed signal comparison means 12 which compares the speed command signal V r and the speed detection signal V s and switches the switch means 11 to the speed control signal side when the speed detection signal V s is larger than the speed command signal V r ; It is characterized by having at least one of the following.
〈作用〉
速度制御時には、比較手段８によつて速度指令
信号Vrから速度検出信号Vsを減算して得られた
速度制御信号が、スイツチ手段１１を経て制御弁
４に出力され、これによつて流体アクチユエータ
２の速度が制御される。このとき、圧力信号比較
手段１３は、圧力指令信号Prと圧力検出信号Psを
比較し、圧力検出信号Psが圧力指令信号Prよりも
大きくなると、上記スイツチ手段１１を圧力制御
信号側に切り換える。すると、流体アクチユエー
タ２は、圧力制御されるようになり、その圧力は
圧力指令信号Prが表わす圧力値以下に抑えられ
る。<Operation> During speed control, the speed control signal obtained by subtracting the speed detection signal V s from the speed command signal V r by the comparison means 8 is output to the control valve 4 via the switch means 11, and is The speed of the fluid actuator 2 is thus controlled. At this time, the pressure signal comparison means 13 compares the pressure command signal P r and the pressure detection signal P s , and when the pressure detection signal P s becomes larger than the pressure command signal P r , the switch means 11 is switched to the pressure control signal side. Switch to . Then, the fluid actuator 2 comes to be pressure-controlled, and its pressure is suppressed below the pressure value represented by the pressure command signal Pr .
逆に、圧力制御時には、圧力制御信号がスイツ
チ手段１１を経て制御弁４に出力されて、流体ア
クチユエータ２の圧力が制御される。このとき、
速度信号比較手段１２は、速度指令信号Vrと速
度検出信号Vsを比較し、速度検出信号Vsが速度
指令信号Vrよりも大きくなると、上記スイツチ
手段１１を速度制御信号側に切り換える。する
と、流体アクチユエータ２は、速度制御されるよ
うになり、その速度は速度指令信号Vrが表わす
速度値以下に抑えられる。 Conversely, during pressure control, a pressure control signal is output to the control valve 4 via the switch means 11, and the pressure of the fluid actuator 2 is controlled. At this time,
The speed signal comparison means 12 compares the speed command signal V r and the speed detection signal V s , and when the speed detection signal V s becomes larger than the speed command signal V r , switches the switch means 11 to the speed control signal side. Then, the fluid actuator 2 comes to be speed-controlled, and its speed is suppressed below the speed value represented by the speed command signal V r .
〈実施例〉
以下、本発明を図示の実施例により詳細に説明
する。<Example> Hereinafter, the present invention will be explained in detail with reference to illustrated examples.
第１図は流体アクチユエータの制御装置の一例
を示しており、この制御装置は、油圧源１から射
出成形機等の油圧シリンダ２に至る圧力ライン３
に、制御弁たるサーボ弁４と圧力センサ５を介設
するとともに、圧力用減算器６で圧力指令信号Pr
と上記圧力センサ５からの圧力検出信号Ｐとの差
をとり、この圧力偏差信号に圧力用補償回路７で
補償を施して圧力制御信号とする一方、速度用減
算器８で速度指令信号Vrと上記油圧シリンダ２
に設けた速度センサ１０からの速度検出信号Vs
との差をとり、この速度偏差信号に速度用補償回
路９で補償を施して速度制御信号としている。以
上の各構成要素は、第３図で既に述べた従来の構
成要素と全く同じ構成、動作をなし、同一要素に
は同じ番号を付している。 FIG. 1 shows an example of a control device for a fluid actuator, and this control device includes a pressure line 3 extending from a hydraulic power source 1 to a hydraulic cylinder 2 of an injection molding machine or the like.
In addition, a servo valve 4 as a control valve and a pressure sensor 5 are installed, and a pressure subtractor 6 is used to generate a pressure command signal P r
and the pressure detection signal P from the pressure sensor 5, and the pressure compensation circuit 7 compensates this pressure deviation signal to obtain a pressure control signal, while the speed subtractor 8 converts it into a speed command signal V r and the above hydraulic cylinder 2
The speed detection signal V s from the speed sensor 10 provided in
This speed deviation signal is compensated by a speed compensation circuit 9 to obtain a speed control signal. Each of the above-mentioned components has exactly the same configuration and operation as the conventional component already described in FIG. 3, and the same elements are given the same numbers.
上記両補償回路７，９の出力側には、油圧シリ
ンダ２の特定位置で動作するリミツトスイツチや
タイマあるいはマニユアルで切り換えられるとと
もに、後述する切換信号で切換えられ、上記圧力
制御信号または速度制御信号のいずれか一方を選
択して上記サーボ弁４のソレノイドに送る制御切
換スイツチ１１を設ける。また、圧力制御ループ
側に、圧力指令信号Prと圧力センサ５からの圧力
検出信号Psを常時比較して、圧力検出信号Psが圧
力指令信号Prよりも大きいとき（Ps＞Pr）、上記
制御切換スイツチ１１を圧力制御信号側に切換え
る切換信号を出力する圧力信号比較器１３を設け
る一方、速度制御ループ側に、速度指令信号Vr
と速度センサ１０からの速度検出信号Vsを常時
比較して、速度検出信号Vsが速度指令信号Vrよ
りも大きいとき（Vs＞Vr）、上記制御切換スイツ
チ１１を速度制御信号側に切り換える切換信号を
出力する速度信号比較器１２を設けている。な
お、上記制御切換スイツチ１１は、強制切換信号
Pc，Vcによつて、射出成形サイクルの初期リセ
ツト等のため上記切換信号に優先して夫々圧力、
速度制御信号側に切り換えられ、その切り換え状
態を所定時間保持するようになつている。 The output sides of both the compensation circuits 7 and 9 are switched by a limit switch, a timer, or a manual that operates at a specific position of the hydraulic cylinder 2, and are switched by a switching signal described later, and either the pressure control signal or the speed control signal is switched. A control changeover switch 11 is provided to select one of the two and send it to the solenoid of the servo valve 4. In addition, on the pressure control loop side, the pressure command signal P r and the pressure detection signal P s from the pressure sensor 5 are constantly compared, and when the pressure detection signal P s is larger than the pressure command signal P r (P s > P r ), a pressure signal comparator 13 is provided that outputs a switching signal for switching the control changeover switch 11 to the pressure control signal side, and a speed command signal Vr is provided on the speed control loop side.
and the speed detection signal V s from the speed sensor 10, and when the speed detection signal V s is larger than the speed command signal V r (V s > V r ), the control changeover switch 11 is set to the speed control signal side. A speed signal comparator 12 is provided which outputs a switching signal for switching to. Note that the control changeover switch 11 receives a forced changeover signal.
P c and V c give priority to the above switching signal for initial reset of the injection molding cycle, etc.
The signal is switched to the speed control signal side, and the switched state is maintained for a predetermined period of time.
上記構成の油圧シリンダの制御装置の動作につ
いて、第２図を参照しつつ次に述べる。 The operation of the hydraulic cylinder control device configured as described above will now be described with reference to FIG.
いま、制御切換スイツチ１１が第１図のように
切り換わつた速度制御時には、速度用減算器８に
よつて速度指令信号Vrから速度検出信号Vsを減
算して得られた速度制御信号が、サーボ弁４のソ
レノイド４ａに出力され、油圧シリンダ２の速度
がフイードバツク制御される。そうすると、第２
図のステツプS1で肯と判断され、圧力信号比較
器１３は、ステツプS2において、圧力指令信号
Prと圧力検出信号Psを比較し、圧力検出信号Psが
圧力指令信号Prよりも大きくなると（Ps＞Pr）、
肯と判断してステツプS3へ進み、このステツプ
S3で制御切換スイツチ１１を速度から圧力制御
信号側に切り換える切換信号を出力する。する
と、油圧シリンダ１は、切り換わつた制御切換ス
イツチ１１を経る圧力制御信号で作動するサーボ
弁４で制御されるようになり、以後その圧力が圧
力指令信号Prに追従するように制御される。従つ
て、溶融樹脂射出時等の速度制御中に、油圧シリ
ンダ１のピストンロツドが金型等の障害物に衝突
して、押圧力が圧力指令信号Prの表すす上限値を
超えようとしても、直ちに圧力フイードバツクが
働いて、押圧力は上記上限値以下に抑えられ、過
大な押圧力による金型やピストンロツドの破損が
防止される。また、上記圧力指令信号Prを油圧源
１の能力以上の高圧に設定しておけば、圧力信号
比較器１３が働らかなくなるから、従来通りの速
度制御のみを行なうことができる。なお、上記ス
テツプS2で否と判断されればステツプS1へ戻る
ことはいうまでもない。 Now, during speed control when the control changeover switch 11 is switched as shown in FIG. is output to the solenoid 4a of the servo valve 4, and the speed of the hydraulic cylinder 2 is feedback-controlled. Then, the second
It is judged as positive in step S1 of the figure, and the pressure signal comparator 13 outputs the pressure command signal in step S2.
P r and pressure detection signal P s are compared, and if pressure detection signal P s becomes larger than pressure command signal P r (P s > P r ),
If the answer is yes, proceed to step S3, and then proceed to step S3.
At S3, a switching signal for switching the control switching switch 11 from the speed to the pressure control signal side is output. Then, the hydraulic cylinder 1 comes to be controlled by the servo valve 4 operated by the pressure control signal passed through the control changeover switch 11, and from then on the pressure is controlled so as to follow the pressure command signal P r . Ru. Therefore, even if the piston rod of the hydraulic cylinder 1 collides with an obstacle such as a mold during speed control during molten resin injection, and the pressing force attempts to exceed the upper limit value indicated by the pressure command signal P r , Immediately, pressure feedback is activated to suppress the pressing force to below the upper limit value, thereby preventing damage to the mold and piston rod due to excessive pressing force. Further, if the pressure command signal P r is set to a high pressure higher than the capacity of the hydraulic power source 1, the pressure signal comparator 13 will not work, so that only conventional speed control can be performed. It goes without saying that if the determination in step S2 is negative, the process returns to step S1.
次に、制御切換スイツチ１１が第１図と逆に切
り換わつた圧力制御時には、圧力制御信号がサー
ボ弁４に出力され、油圧シリンダ２の圧力がフイ
ードバツク制御される。そうすると、第２図のス
テツプS1で否と判断され、速度信号比較器１２
は、ステツプS4において、速度指令信号Vrと速
度検出信号Vsを比較し、Vs＞Vrなら肯と判断し
てステツプS5へ進み、このステツプS5で制御切
換スイツチ１１を圧力から速度制御信号側に切り
換える。すると、油圧シリンダ１は、以後速度制
御信号で作動するサーボ弁４で制御され、その速
度が速度指令信号Vrに追従するように制御され
る。従つて、樹脂凝固時等の圧力制御中に、樹脂
の負荷が軽くてピストンロツドが暴走しようとし
ても、直ちに速度フイードバツクが働いて、暴走
が抑えられ、暴走による成形品のバリ発生や成形
機の破損が防止される。また、上記速度指令信号
Vrを油圧源１の能力以上の高速に設定すれば、
従来通りの圧力制御のみを行なうことができる。 Next, during pressure control when the control changeover switch 11 is switched in the opposite direction to that shown in FIG. 1, a pressure control signal is output to the servo valve 4, and the pressure in the hydraulic cylinder 2 is feedback-controlled. Then, it is judged as negative in step S1 of FIG. 2, and the speed signal comparator 12
In step S4, the speed command signal V r and the speed detection signal V s are compared, and if V s > V r , it is judged as positive, and the process proceeds to step S5, where the control changeover switch 11 is changed from pressure to speed control. Switch to the signal side. Then, the hydraulic cylinder 1 is thereafter controlled by the servo valve 4 operated by the speed control signal, and its speed is controlled so as to follow the speed command signal V r . Therefore, even if the piston rod tries to run out of control due to a light load on the resin during pressure control during resin solidification, etc., the speed feedback immediately works to suppress runaway and prevent burrs on the molded product and damage to the molding machine due to runaway. is prevented. In addition, the above speed command signal
If V r is set to a high speed higher than the capacity of hydraulic source 1,
Only conventional pressure control can be performed.
上記実施例では、速度信号比較器１２と圧力信
号比較器１３の双方を設けているので、油圧シリ
ンダの速度と圧力双方の異常上昇を防止できると
いう利点があるが、いずれか一方だけを設けるこ
とも勿論可能である。また、速度制御と圧力制御
のどちらかが動作中かを判別しやすくするため
に、制御切換スイツチ１１に発光ダイオード等を
連動させてもよく、連動するトランジスタの出力
信号等で遠隔判別することもできる。さらに、本
発明の速度、圧力信号比較手段は、実施例のハー
ドウエアたる比較器１２，１３に限らず、マイク
ロプロセツサのプログラムなどのソフトウエアで
あつてもよい。 In the above embodiment, since both the speed signal comparator 12 and the pressure signal comparator 13 are provided, there is an advantage that abnormal increases in both the speed and pressure of the hydraulic cylinder can be prevented. However, it is not necessary to provide only one of them. Of course, it is also possible. Furthermore, in order to make it easier to determine whether speed control or pressure control is in operation, a light emitting diode or the like may be linked to the control changeover switch 11, and remote discrimination may also be made using the output signal of the linked transistor. can. Further, the speed and pressure signal comparison means of the present invention is not limited to the comparators 12 and 13 which are the hardware of the embodiment, but may be software such as a microprocessor program.
また、本発明が図示の射出成形機の油圧シリン
ダに限らず、流体アクチユエータ全般に適用でき
るのはいうまでもない。 Furthermore, it goes without saying that the present invention is applicable not only to the hydraulic cylinder of the illustrated injection molding machine but also to fluid actuators in general.
〈発明の効果〉
以上の説明で明らかなように、本発明の流体ア
クチユエータの制御装置は、速度指令信号から速
度検出信号を減じて得た速度制御信号と、圧力指
令信号から圧力検出信号を減じて得た圧力制御信
号のいずれか一方をスイツチ手段を介して制御弁
に出力して流体アクチユエータを速度または圧力
制御するものにおいて、速度制御時に圧力信号比
較手段によつて、上記圧力指令信号と圧力検出信
号を比較して、後者が大きいとき上記スイツチ手
段を圧力制御側に自動的に切り換え、あるいは圧
力制御時に速度信号比較手段によつて、上記速度
指令信号と速度検出信号を比較して、後者が大き
いとき上記スイツチ手段を速度制御側に自動的に
切り換えるようにしているので、指令信号を速
度、圧力の上限値に設定することにより速度制御
中の作動圧力の異常上昇あるいは圧力制御中の作
動速度の異常上昇を防止でき、これらの異常上昇
で流体アクチユエータ等に生じる不具合を解消で
きる。<Effects of the Invention> As is clear from the above description, the fluid actuator control device of the present invention subtracts the speed control signal obtained by subtracting the speed detection signal from the speed command signal and the pressure detection signal from the pressure command signal. In a device that controls the speed or pressure of a fluid actuator by outputting either one of the pressure control signals obtained by the control valve to the control valve via a switch means, the pressure signal comparison means compares the pressure command signal and the pressure at the time of speed control. The detection signals are compared, and when the latter is larger, the switch means is automatically switched to the pressure control side, or the speed signal comparison means is used to compare the speed command signal and the speed detection signal during pressure control, and the latter is Since the above-mentioned switch means is automatically switched to the speed control side when Abnormal increases in speed can be prevented, and problems that occur in fluid actuators and the like due to these abnormal increases can be eliminated.
第１図は本発明の流体アクチユエータの制御装
置の一実施例を示す図、第２図は上記実施例の動
作を示すフローチヤート、第３図は従来の油圧シ
リンダの制御装置を示す図である。
２……油圧シリンダ、４……サーボ弁、５……
圧力センサ、６……圧力用減算器、７……圧力用
補償回路、８……速度用減算器、９……速度用補
償回路、１０……速度センサ、１１……制御切換
スイツチ、１２……速度信号比較器、１３……圧
力信号比較器。
FIG. 1 is a diagram showing an embodiment of the fluid actuator control device of the present invention, FIG. 2 is a flowchart showing the operation of the above embodiment, and FIG. 3 is a diagram showing a conventional hydraulic cylinder control device. . 2... Hydraulic cylinder, 4... Servo valve, 5...
Pressure sensor, 6...Pressure subtractor, 7...Pressure compensation circuit, 8...Speed subtractor, 9...Speed compensation circuit, 10...Speed sensor, 11...Control changeover switch, 12... ...speed signal comparator, 13...pressure signal comparator.
Claims (1)
速度検出器１０からの速度検出信号Vsを速度指
令信号Vrから減算して速度制御信号を出力する
一方、比較手段６によつて上記流体アクチユエー
タ２の圧力検出器５からの圧力検出信号Psを圧力
指令信号Prから減算して圧力制御信号を出力し、
上記両制御信号のいずれか一方をスイツチ手段１
１で選択して上記流体アクチユエータ２の圧力ラ
イン３に介設された制御弁４に出力する流体アク
チユエータの制御装置において、 上記速度制御信号が選択された速度制御時に、
上記圧力指令信号Prと圧力検出信号Psを比較し
て、圧力検出信号Psが圧力指令信号Prよりも大き
いとき上記スイツチ手段１１を圧力制御信号側に
切り換える圧力信号比較手段１３と、上記圧力制
御信号が選択された圧力制御時に、上記速度指令
信号Vrと速度検出信号Vsを比較して、速度検出
信号Vsが速度指令信号Vrよりも大きいとき上記
スイツチ手段１１を速度制御信号側に切り換える
速度信号比較手段１２とのうち少なくとも一方を
備えたことを特徴とする流体アクチユエータの制
御装置。[Claims] 1. The comparison means 8 subtracts the speed detection signal V s from the speed detector 10 of the fluid actuator 2 from the speed command signal V r to output a speed control signal, while the comparison means 6 Therefore, the pressure detection signal Ps from the pressure detector 5 of the fluid actuator 2 is subtracted from the pressure command signal Pr to output a pressure control signal,
Switching means 1 for either one of the above two control signals
In the fluid actuator control device which selects the speed control signal in step 1 and outputs it to the control valve 4 interposed in the pressure line 3 of the fluid actuator 2, during speed control when the speed control signal is selected,
Pressure signal comparison means 13 that compares the pressure command signal P r and the pressure detection signal P s and switches the switch means 11 to the pressure control signal side when the pressure detection signal P s is larger than the pressure command signal P r ; During pressure control in which the pressure control signal is selected, the speed command signal V r and the speed detection signal V s are compared, and when the speed detection signal V s is larger than the speed command signal V r , the switch means 11 is set to the speed. 1. A control device for a fluid actuator, comprising at least one of speed signal comparison means 12 for switching to the control signal side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63239435A JPH0289802A (en) | 1988-09-22 | 1988-09-22 | Control device for fluid actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63239435A JPH0289802A (en) | 1988-09-22 | 1988-09-22 | Control device for fluid actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0289802A JPH0289802A (en) | 1990-03-29 |
| JPH0567801B2 true JPH0567801B2 (en) | 1993-09-27 |
Family
ID=17044733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63239435A Granted JPH0289802A (en) | 1988-09-22 | 1988-09-22 | Control device for fluid actuator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0289802A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0516196A (en) * | 1991-07-08 | 1993-01-26 | Toyo Mach & Metal Co Ltd | Method for monitoring of injection molding machine |
-
1988
- 1988-09-22 JP JP63239435A patent/JPH0289802A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0289802A (en) | 1990-03-29 |
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