JPS60117604A - Controller for electromagnetic device with proportional solenoid - Google Patents

Abstract

PURPOSE:To prevent the change of characteristics of an electromagnetic device, and to improve the controllability, control accuracy and reliability of the electromagnetic device by obtaining a correction value corresponding to the resistance value of a proportional solenoid and acquiring the degree of modulation of pulse width in response to the correction value when a command device such as an operating lever is positined at a position where an actuator is not operated. CONSTITUTION:When an actuating signal is less than a fixed value, a command input signal having some fixed value through which an actuator 18 cannot be operated is outputted from a command-value arithmetic circuit 25, currents are flowed through a proportional solenoid 13 by the predetermined degree of modulation corresponding to the command input signal, and a correction value is obtained on the basis of the currents. When the actuating signal reaches to said fixed value or more, a novel command input signal corrected by multiplying a command input signal corresponding to the value by said correction value is acquired, and the signal is inputted to a pulse width modulator 15. Accordingly, the correction value is updated every time an operating lever 19 is returned to a non-operation state, and the accurate correction value can be obtained at all times without preventing the operation of the actuator 18.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a proportional solenoid having a proportional solenoid that generates a force proportional to a supplied current value, and particularly to a proportional solenoid suitable for controlling the supplied current value. a zero proportional solenoid for a control device of an electromagnetic device having
Electromagnetic devices, such as 'Fr, magnetic proportional control valves, which generate a force proportional to the current supplied to them, are used in a large number of fields. An example is shown in FIG.

In FIG. 1, reference numeral 1 indicates an electromagnetic proportional pressure reducing valve, which is one of electromagnetic proportional control valves, and is composed of a proportional solenoid section 2 and a pressure reducing valve section 3. Proportional solenoid part 2 consists of a proportional solenoid and an iron core (
None are shown. ). 2a and 2b are the proportional solenoid 1, the child 04 is the push rod that is connected to the iron core of the proportional solenoid section 2, 5 is the spool of the pressure reducing valve section 3, and 5a and 5b are the push rods on both end surfaces of the spool 5. , the push rod 4 is in contact with the end surface 5a. 5C is the /J% hole provided in the spool 5. 6 is a supply boat to which pressure oil is supplied, 7 is a return port from which oil is discharged, 8 is an output port that outputs pressure oil, 9 is connected to the return port door, and 10 is connected to the supply boat 6. This is Aburashobara.

When a current is supplied from the terminals 2a, 2b to the proportional solenoid, a force proportional to this current is applied to the core of the proportional solenoid section 2, and this force is applied to the spool 5 via the push rod 4 engaged with the core. is transmitted to one end surface 5a of the. As a result, the spool 5 moves to the right from the position shown in the drawing and brings the small hole 5c and the supply boat 6 into electrical communication, so that the supply boat 6 and the output port 8 communicate with each other via the small hole 5c.

As a result, the oil pressure at the output port 8 increases, and the pressure applied to the end surface 5b of the spool 5 also increases. When the pressure on the end surface 5b is greater than the pushing force of the push rod 4 (that is, the force applied to the iron core of the proportional solenoid section 2), the boat 7 is communicated with through the small hole 5c, and the hydraulic pressure of the output port 8 is increased. decreases, and the end face 5b
The pressure exerted on them also decreases. When the pressure applied to the end surface 5b becomes lower than the pressing force of the push rod 4, the spool 5 moves to the right in the figure again.

In this way, the spool 5 of the pressure reducing valve section 2 operates in response to the force applied to the iron core of the proportional solenoid section 2, so that the hydraulic pressure generated at the output port 8 is proportional to the current supplied to the proportional solenoid. That will happen.

FIG. 2 shows a conventional control device for this electromagnetic proportional pressure reducing valve 1.
FIG. 2 is a block diagram illustrating an example.

In the figure, 11 is a constant voltage source, and 12 is a constant current amplifier that connects the constant voltage source 11 to its voltage level and generates a current value proportional to the command input signal Vp. Reference numeral 13 is a proportional solenoid of the proportional solenoid section 2 to which a current from the constant current amplifier 12 is supplied, and applies a force proportional to the current I to the iron core. terminal 2
a, 2b, supply boat 6, return port door, output port 8
, tank 9, and hydraulic power source 10 are the same as those shown in FIG.

When a command input signal Vp corresponding to a command value for the electromagnetic proportional pressure reducing valve 1 is input to the constant current amplifier 12, the constant current amplifier 12 supplies a current proportional to this signal V to the proportional solenoid 13. By the way, the resistance value of the proportional solenoid 13 changes depending on the temperature of the proportional solenoid 13; the higher the temperature, the higher the resistance value, and the lower the temperature, the lower the resistance value. Therefore, if current is supplied solely depending on the command input signal Vp, there is a possibility that the desired current cannot be supplied. The constant current amplifier 12 is provided to prevent such a situation from occurring and to supply a desired current even if the resistance value of the proportional solenoid changes.

However, this constant current amplifier 12 has the drawbacks of having a complicated configuration, difficulty in adjusting it, and being extremely expensive. She was very feminine.

FIG. m3 is a block diagram of a conventional control device for an electromagnetic proportional pressure reducing valve that does not use the constant current amplifier 12.

In the figure, the same parts as in FIG. 2 are given the same reference numerals, and their explanation will be omitted. Reference numeral 14 denotes a drive amplifier, which is composed of a constant voltage source 11, a pulse width modulator 15, a transistor 16, and a diode 17. The pulse width modulator 15 receives the command input signal■
When p is input, the pulse width of the reference pulse is changed accordingly, and a pulse width modulated signal (hereinafter referred to as a PWM signal) o having this modulated pulse width is generated.

The transistor 16 is connected to the terminal 2b of the proportional solenoid 13, and its conduction and non-conduction are controlled by jD and the PWM signal V0. Since the terminal 2a of the proportional solenoid 13 is connected to the constant voltage source 11, when the transistor 16 becomes conductive, a current is supplied to the proportional solenoid 13 according to the conduction time. Seventh, the diode 17 is an element for protecting the transistor 16. Further, the transistor 16 can be replaced with an element such as a thyristor.

FIG. 4 is a waveform diagram for explaining pulse width modulation by the pulse width modulator 15. In FIG. 4, the horizontal axis represents time t, and the vertical axis represents PWM signal voltage V. is taken. Here, the reference pulse has a high level voltage vh and a low level voltage Vl, and its period is T. It is. The pulse width of this reference pulse is changed according to the command input signal Vp input to the pulse width modulator 15. For example, the command signal Vp
When the operator inputs the pulse width, the pulse width becomes T1, and the command input signal vp2, which is smaller than this, becomes T2, which is smaller than the input pulse width T8. Fundamental period T. The pulse width for this is called the modulation degree (this is expressed as D).

That is, the degree of modulation when the command input signal Vp□ is D=T□
/ToX100 (%), and when the command input signal Vp2 is D=T2/ToX100 (%).

Therefore, the degree of modulation and the command input 4'G number vp are proportional.

FIG. 5 is a waveform diagram of the current flowing through the proportional solenoid 13. Transistor 16 receives PWM signal V.

is conductive when is the high level voltage vh, and the low level voltage v1
When , there is no conduction. Now, the impedance of the proportional solenoid 13 is an ideal resistance, and P W M (i
No. V. Assuming that the pulse width of is To, the proportional solenoid has a current flow shown by the dotted line in the figure during the period T1.

is supplied. In this case, the average current in the fundamental period To is 11. Billed by xT1/To. By the way, actually the proportional solenoid 13
Due to its inductance, the current flowing through pulsates as shown by the solid line in the figure, but the current flow during period T□. It has been confirmed that the insufficient current -■ for the period (To-T, ) is approximately equal to the surplus current + Ω during the period (To-T, ), and therefore, the average current that actually flows and the average current Δ are approximately equal.

In this way, since the degree of modulation of the reference pulse can be changed in proportion to the command input signal vp, it is possible to supply current to the proportional solenoid in proportion to the command input signal vp. Since this control device does not use a constant current amplifier, the structure of the control device is simple and adjustment is easy.

Also, the fundamental period T.

The reciprocal of , that is, the fundamental frequency f. Since it has the components of
Another advantage is that a so-called dither effect can be obtained.

FIG. 6 is a block diagram when the control device shown in FIG. 3 is applied to a hydraulic drive circuit. In the figure, the same parts as those shown in FIG. 3 are given the same reference numerals. 18 is an actuator and a pressure receiving chamber 18a.

The actuator 18 having the spring 18b1 and the piston 18c may be a hydraulic pilot type directional control valve, a hydraulic cylinder of a variable discharge amount mechanism of a hydraulic pump, or the like. 19 is a control lever for operating the actuator 18; 20 is a control amount detection device that outputs a control signal X according to the control amount of the control lever 19; 21 is an arithmetic circuit which inputs the operation signal X and outputs a command input signal vp corresponding thereto. The arithmetic circuit 21 has the characteristics shown in FIG.

That is, the operation signal X has a certain predetermined value X. When the operation signal In this way, by providing a dead zone less than the value XQ, even if the operating lever 19 is accidentally touched, the actuator 18 is prevented from operating, and safety is intended when used in industrial machinery, etc. There is.

Note that the performance η1 circuit 21 can be easily constructed using a comparator, an operational amplifier, or the like.

Now, when the operation lever 19 is operated, the operation amount detection device 20
A signal X corresponding to the manipulated variable is output from the arithmetic operation circuit 21, and a command input signal vp is output from the arithmetic circuit 21 to which the signal X is input. In the drive amplifier 14, pulse width modulation is performed according to the signal vp, and an average current is supplied to the proportional solenoid 13 by opening and closing the transistor 16 according to the modulated pulse width. to drive. Therefore, a hydraulic pressure of pressure P is output from the electromagnetic proportional control valve 1. This hydraulic pressure P□ is introduced into the pressure receiving chamber 18a of the actuator 18, pushes the piston 18c to the right in the figure, and moves the piston 18c by a displacement amount y. The amount of displacement y is determined by the balance between the rightward pressing force by the hydraulic force and the spring 18b. The relationship between pressure P0 and displacement My is shown in FIG. As is clear from the figure, the actuator 1sIi has a dead zone from pressure 0 to P1°, and the introduced hydraulic pressure is from 0 to P. In the case, the piston 18c
doesn't work.

Command input signal Vp and pressure P0 in such a device
The relationship between the two is shown in FIGS. 9(a) to 9(d). That is, as shown in FIG. 9(a), the pressure P1 is proportional to the electric current pf, I1 supplied to the upper solenoid, and the average current max. The movement start pressure P of the piston 18c at
1° is obtained. As shown in FIG. 9(b), this average current I is proportional to the degree of modulation of the pulse width modulator 15, and at the degree of modulation D0, the above-mentioned average current 1 degree is supplied.

This degree of modulation is determined by the arithmetic circuit 21 as shown in FIG. 9(c).
The above-mentioned modulation degree D0 is obtained in the No. 11 vpo in proportion to the command input signal ① from the . Due to departmental matters, pressure P.

and the command input signal vp are in a proportional relationship as shown in FIG. 9(d), and the above-mentioned pressure pto is generated at the command input signal po. In this way, the displacement y of the actuator 18 is obtained in proportion to the operation fix of the operating lever 19.

'By the way, the average current supplied to the proportional solenoid 13 (l!1) changes when the resistance value of the proportional solenoid 13 changes due to hot orifice, etc., and the command input signal to the proportional solenoid 13 always changes. It has the disadvantage that it is not possible to supply a proportional current with a predetermined relationship.The effect of such a change in resistance value appears as a change in the 91 characteristics shown in Fig. 9(b).That is, at a certain temperature t,'c, proportional solenoid 1
When the resistance value force CROΩ is 3, the average current of the proportional solenoid 13 for the degree of modulation in this state is 10
Then, ■,=□・D (kt is a constant). Then the temperature is tl. Suppose that the resistance value of the proportional solenoid 13 becomes R1Ω, then the average current for the degree of modulation in this state ■', +i, t, = R
6□□=5m kl @ pRI R1. In other words, the proportional solenoid 13 has a resistance of 9 R□ at low temperature.
When Ω is a small value, the average current appears large, and conversely, when the proportional solenoid 13 is at a high temperature and the resistance R1Ω755 is a large value, the average current becomes small. Therefore, as is clear from FIG. 9(a), this change in average current causes pressure P8
will change, and in turn the change y of the actuator 18 will also change.Such a change will affect the performance and reliability of industrial machines such as hydraulic excavators and the use of the electromagnetic proportional control valve 1. Not only does it lead to a decline in sexuality, but also
If 'L is used to operate heavy objects or rotating mechanisms, it may pose a serious danger.

The present invention has been made in view of the above circumstances, and its purpose is to provide a proportional solenoid that can prevent characteristic changes and improve control performance, control accuracy, and reliability. The present invention provides a control device for electromagnetic devices.

In order to achieve this object, the present invention stores a correction value according to the resistance value of the proportional solenoid when the command device that commands the drive of the actuator is in a position where the actuator is not operated. Correct the command value from the device, perform pulse width modulation of the basic pulse according to the new command value obtained by correction, and supply current to the proportional solenoid according to this modulated pulse width. It is characterized by being designed to supply

Hereinafter, the present invention will be explained based on an illustrated embodiment. FIG. 10 is a block diagram of a control device according to an embodiment of the present invention. In the figure, the same parts as those shown in FIG. 6 are given the same reference numerals. 24 is a command value calculation circuit which inputs the operation signal X from the operation amount detection device 20 and outputs a command input signal Vp in response thereto. This command value calculation circuit 24
The characteristics of are shown in FIG. In FIG. 11, the horizontal axis represents the operation signal X, and the vertical axis represents the command input signal Vp. As mentioned in the explanation of the conventional example, the characteristics of the arithmetic circuit 21 shown in FIG. 6 are such that, as shown in FIG. 7, the command input signal VP is not output when the value of the operation signal X is X0. , reaches the value x0 and outputs the command value ■po. However, the characteristics of the command value calculation circuit 24 in this embodiment are such that the operation signal X is the value X when the operation lever 19 is operated from when the operation lever 19 is in the neutral position. The command input signal V p'o (0< V
po < V po ).

That is, not only when the operation signal X has a value of 0, but also when the dead zone (x
<xo), the command input signal vp'. Output.

25 is a resistor connected in series with the proportional solenoid 13, and its resistance value is selected to be sufficiently smaller than that of the proportional solenoid 13. The resistance value 25 has a function of detecting the average current value supplied to the proportional solenoid 13. Reference numeral 26 denotes a correction value calculation circuit that calculates a correction value Kp based on the average current value outputted by the resistor 25. 27 is the correction value Kp output from the correction value calculation circuit 26
This is a drive circuit that corrects the command input signal Vp from the command value calculation circuit 24 and supplies current to the proportional solenoid 13 based on the corrected command input signal. Here, before entering into a description of specific examples of the correction value calculation circuit 26 and the drive circuit 27, the principle of calculating the correction value Kp in the correction value calculation circuit 26 will be explained.

Now, let us say that the approximate resistance value of the proportional solenoid is R8, and the average current flowing through the proportional solenoid is I; when the current value is D'o. Here, suppose that the resistance value of this proportional solenoid changes to 9H□ due to a temperature change, and the average current flowing at that time also changes to ■;. In such a case,
The respective average currents I3 and I/ are determined by the following equation.

I, = to 2・Do/Ro ・・・・・・・・・(1) Self-to 2. D10/R1 (2) Even if the resistance value R8 changes to the resistance value R1, the average current of the proportional solenoid must not change. It is clear that in order to obtain ■;=11 in this way, the degree of modulation when the resistance value R□ can be changed. Therefore, as the degree of modulation at this time, the previous - year adjustment D'o
The value obtained by multiplying by a certain coefficient Kp, that is, the modulation degree Kp-D-
Considering, the following formula % formula % (1 is obtained. By the way, from the above formulas (1) and '(2), after all, K p :I '6 / I; ......・
(3) becomes. Here, as mentioned above, Equation 8 is a constant pressure Dlo at the standard resistance value R0 of the proportional solenoid.
Since it is the average current for the current, its value is constant. FIG. 16 is a curve showing the change in the coefficient Kp with respect to the current value of the proportional solenoid, and is an inversely proportional curve. If such a coefficient Kp is used as a correction value and is multiplied by the command input signal ■p of the pulse width modulator, even if the resistance of the proportional solenoid changes, its average current will not change, and the pressure P□ will also change. will not occur. This completes the explanation of the correction value Kp,
Next, the configuration of a specific example of the correction value calculation circuit 26 and the drive circuit 27 will be described.

FIG. 13 is a block diagram showing a specific example of the correction value calculation circuit and drive circuit shown in FIG. 10. In the figure, the proportional solenoid 13, its both terminals 2a and 2b, the constant voltage temperature 11, the pulse modulator 15, the transistor 16, and the diode 17 are the same as those shown in FIG. First, the correction value calculation circuit 26 will be explained. 28 is a differential i% dropper that detects the potential difference between both ends of the resistor 25, and its output is 4J @
S 1 has a waveform similar to the current ■ shown in FIG.

The differential amplifier 28 can be easily constructed using an operational amplifier, a resistor, or the like. 29 is a filter that smoothes the signal S1;
The output signal S2 is a smoothed value such as the average current value shown in FIG. 5, and is proportional to this average current value □.

The filter 29 may be a low-pass filter, a passive filter using a combination of a resistor and a capacitor, or an active filter using an operational amplifier may be used. 30 is a comparator circuit. The value X of the operation signal shown in is set, and the value X is obtained by inputting the operation signal X output from the operation amount detection device 20. Compare with. In the comparison circuit 30, the signal X is the value X. Less than (x<xo)
When , a high level signal H is output as the signal S3, and the signal X has the value X. When the condition is above (X≧xo), a low level signal is output. Numeral 31 is a pulse generator that generates a pulse train of a constant period. Numeral 32 inputs the signal S3 of the comparator circuit 30 and the signal S4 of the pulse generator 31.
, Sa is an AND circuit that outputs a high level signal only when the signal S2 is at a high level, and is a sample hold circuit that inputs the signal S2 of the filter 29 and the signal S of the ANI) circuit 32, and the signal S5 is at a low level L. to high level H
It has the function of maintaining the original value of the input signal S2. 34 outputs the aforementioned correction value Kp? A +:1 positive coefficient generator is used, and a function generator having the characteristics shown in FIG. 12, that is, the characteristics satisfying the above equation (3) at a constant modulation degree D'o, is used.

Next, the drive circuit 27 will be explained. 35 is a unit 3j, which multiplies the command input signal Vp from the command value calculation circuit 24 by the correction value Kp from the positive coefficient generator 34; The output signal S7 from the device 35 becomes a new command input signal. Reference numeral 36 denotes a switch element for switching and connecting either one of the input end of the command input terminal (P) and the passenger input terminal 35 to the pulse modulator 15. Switch element 36
inputs the output signal S3 of the comparator circuit 30, and outputs the signal S3
When is at a high level H (when x<xo), the command input signal V.

is input directly to the pulse width modulator 15, and when the signal S3 is at a low level (X≧
xg), the output signal S7 of the Norita device 35 is switched to be input to the pulse width modulator 15.

Here, the operation of this embodiment will be explained with reference to the time chart shown in FIG. Now, in order to drive the actuator 18, the Jl"hjF lever 1 is in the neutral position 11.
Considering the case where 9 is operated, the operation signal X at 4 naturally increases from the value 0. 4. X"j While X is within the range of less than the value
1) In accordance with the characteristics shown in Figure 1.
Output. On the other hand, the operation (i4"b'Jj The signal S3 at level H is the switch element 36
and is switched to the input terminal of switch element 361, i1i vp. Therefore, the pulse modulator 15
, a command input signal vp' corresponding to X<Xo. is input, and the pulse width is 15th! ) As shown in Figure (C), pulse width modulation is carried out with a variation of π/4° according to the signal Vpo, and the transistor 16 supplies a current 6'lj to the proportional solenoid 13 accordingly. Depending on the average current of the proportional solenoid 13, the electromagnetic proportional control valve 1 is operated by the hydraulic pressure P.
□ is generated, but its value is such that the command value VP'0 is the value Vpo
In this case, the current flowing through the proportional solenoid 13 is drawn out by the resistor 25, and the differential amplifier 2
8 and smoothed by a filter 29 to obtain the modulation degree D'o
The average current of the proportional solenoid 13 is obtained.

On the other hand, the AND circuit 32 receives the pulse train signal s4 from the pulse generator 31 shown in FIG. 14(c) and the pulse train signal s4 shown in FIG. 14(b).
No. 40 S3 at a high level H from the comparator circuit 3o shown in FIG. The output signal s2 of the filter 29 is a signal as shown in FIG.
The value of the input signal S2 at time t1 when the output signal S5 of the input signal S5 becomes high level H is held. The sample hold 33 outputs this held value as a signal s6, as shown in FIG. 14(f). In other words, the signal S6 has a value corresponding to the average current 11 of the proportional solenoid 13 at that point in time for a constant modulation degree D'o. The signal S6 is input to the correction coefficient generator 34, and according to its characteristic t1-L7 shown in FIG.
The value corresponding to 6 is observed. Correction coefficient generator 34
outputs this value Kp as a correction value. The multiplier 35 inputs the command input signal ■p of the command value operation q times P824 and the correction value Kp of the correction coefficient generator 34, creates the product of both Kp·■, and outputs this as a new command input signal S7. do.

The value of operation signal X is value X. If it becomes more than that, comparison time ir; 3
0 (the i signal S3 is at a low level L as shown in FIG. 14(b)), the switch element 36 is switched, and the corrected (H signal S7 is input, and from the pulse width variation π!3\:;15, a pulse modulated with a modulation degree corresponding to this is output.

Therefore, an average current according to the degree of modulation flows through the proportional solenoid 13, generating a pressure P□ proportional to this, and operating the actuator 18 at J+:.

The operating lever 19 is returned to the neutral position, and the actuator 1
When the operation lever 19 is operated again after the drive of the control lever 8 is stopped, the exact same operation as described above is repeated lll·h, and as shown in FIG. , a correction value Kp corresponding to the resistance value of the proportional solenoid 13 at that time is obtained.

In this way, in this embodiment, when the operation (number a) is less than a predetermined value, the command value calculation circuit outputs a command human power (number g) of a certain predetermined value that does not lead to actuating the actuator.
A current is applied to the proportional solenoid with a predetermined degree of modulation corresponding to this, a correction value is calculated based on this current, and when operation No. 45 exceeds the predetermined value, the command input signal corresponding to that value is ) A new corrected command input signal is obtained by multiplying by the correction value described in (h), and this signal is input to the pulse width modulator, so the correction value is updated every time the operating lever is returned to the non-operating state. Accurate correction values can always be obtained without interfering with the operation of the actuator, and changes in the characteristics of the electromagnetic device can be prevented, thereby improving control performance, control accuracy, and reliability.

As described above, in the present invention, when a command device such as a control lever is in a position where the actuator is not actuated, a correction value is determined according to the resistance value of the proportional solenoid, and this correction value is used. By correcting the command value of ['t] and obtaining the pulse width modulation degree according to this corrected new value f, the change in the characteristics of the electromagnetic device can be prevented with always accurate correction values. , its control performance, control accuracy and reliability can be improved.

[Brief explanation of drawings]

Figure 1 is a schematic diagram of the electromagnetic proportional control valve, and Figure 211 is the first
A block diagram showing one example of a conventional control device 1 for the electromagnetic proportional f, υ control valve shown in the figure, and FIG. 3 is a block diagram showing another example of the conventional control device for the electromagnetic proportional control valve shown in FIG. , FIG. 4 shows the waveform 14 of the modulated pulse, and FIG. 5 shows the waveform 1 of the proportional solenoid current. , Fig. 7 is a characteristic diagram of the I4I circuit shown in Fig. 6, and Fig. 8 is a characteristic diagram of the I4I circuit shown in Fig.
Electromagnetic proportional ir4 shown in the figure! Characteristic diagrams showing the relationship between the oil pressure of the control valve and the displacement of the actuator, FIGS. 9(a) and (b),
(c) *(d) is a graph for explaining the relationship between the command input signal and oil pressure, the 10th port is a block diagram of the control device according to the embodiment of the present invention, and FIG. 11 is the command value shown in FIG. 10. A characteristic diagram of the arithmetic circuit, FIG. 12 is a characteristic diagram showing the relationship between the average current of the proportional solenoid and the correction value, and FIG. 13 is a block diagram of a specific example of the correction value arithmetic circuit and drive circuit shown in FIG. Figure 14 (a), (b). (c), (d), (e), and (f) are flowcharts explaining the operation of the control device shown in FIGS. 10 and 13. 1... Electromagnetic proportional control valve, 11... Constant voltage source, 13... Proportional solenoid/noid, 15...
pulse width modulator, 16...transistor, 1
8...actuator, 19...operation lever, 2o...operation! Detection device, 24...
...Command value calculation circuit, 25. Old... Resistor, 26...
...Correction value calculation circuit, 27. Old... Drive circuit, 29.
Old... Filter, 30... Comparison circuit, 31...
...Pulse generator, 32...AND circuit,
33...Sample hold, 34...
Correction coefficient generation coffin, 35... Multiplication/T device, 36...
...Switch element. ') r 1 Me Sai 2 Figure 1 '3 Ougi 510 Sai 11 Kuchi 112 Sho 7 15・kuchi? 14 E.I.

Claims (1)

[Claims] An electromagnetic device having a proportional solenoid, an actuator that is driven according to the operation of the 1L magnetic device, and a command device that commands the drive of the actuator, wherein the command device does not operate the actuator. means for setting a correction value according to the resistance value of the proportional solenoid when the proportional solenoid is in the position; a correction means for correcting the command value output from the command device according to the correction value requested by the means; a pulse width modulation means for performing pulse width modulation according to a new command value obtained by the correction means; and a current supplied to the proportional solenoid according to the pulse width modulated by the pulse width modulation means. 1. A control device for an electromagnetic device having a proportional solenoid, characterized in that a control device for an electromagnetic device has a proportional solenoid.