JPS6170204A - Driving method for control valve - Google Patents

Abstract

PURPOSE:To improve response and precision, by a method wherein, when a moving valve body is restored to a neutral position, after the moving valve body is energized in a restoring direction for a given time, it is energized in a displacing direction before restoration for a given time. CONSTITUTION:A first timing means 15, which, when a moving valve body 12 is restored to a neutral position, energizes a driving means 14 of the moving valve body 12 in a direction, in which the moving valve body 12 is restored to the neutral position, for a first given time, is connected to a second timing means 16 which, thereafter, energizes the moving valve body 12 in the displacing direction of the moving valve body 12 before restoration to the neutral position for a second given time. Thus, an energizing force in a restoration direction and an energizing force in an anti-restoration direction can be exerted, in turn, on the moving valve body 12 during restoration of the moving valve body 12 to the neutral position. This permits the moving valve body 12 to be rapidly and reliably restored to the neutral position, resulting in improvement of response and precision.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a control valve driving method, and particularly to a driving method that allows accurate fluid control.

(Prior art) As a conventional method for driving a control valve, for example, there is a method described in No. 435 of "Hydraulic Technology Handbook - Revised New Edition" (published by Nikkan Kogyo Shimbun).
Those described on pages 436 to 436 are known. As shown in FIGS. 9 and 10, this control valve is driven by a pulse width modulation signal (hereinafter referred to as PWM) that vibrates in both positive and negative directions and has an impulse ratio corresponding to the deviation signal m (FIG. 10).
Drive signal) n is output to the torque motor 91 of the nozzle/flapper type servo valve 90. As shown in FIG. 9, the nozzle/flapper type servo valve 90 uses a PWM drive signal, also known as a torque motor 91, to change the nozzle/flapper gap 92, and the back pressure of the fluid due to the change in the nozzle/flapper gap FJi92. Changes are made between the end chambers 94a and 94 at both ends of the spool 93.
Introduce into b. The spool 93 is connected to the end chamber 94a.
, 94b, it is displaced from the neutral position (the position shown) to the left and right in the figure, and the fluid flowing from the pump to the in-left boat 95 is transferred to each outlet boat 96a.
, 96b to control the pressure to a predetermined pressure difference and supply it to the actuator. That is, the spool 93 oscillates between the left and right end positions in the drawing with the PWM drive signal, also known as the neutral position, as the center, and the fluid pressure is controlled by the proportion of time the spool 93 is located at each end position. Note that 98 is a drain boat that communicates with the reservoir tank.

(Problem to be solved by this invention) However,
In such a conventional electrically driven valve drive device, the spool wall alternately moves left and right around the neutral position using the PWM drive signal, and the time period when the spool 93 is located at one end position of the spool 93 is determined by the PWM drive signal. Since the fluid is controlled based on the ratio of the time at the end position and the time at the end position in the other direction (corresponding to the PWM drive signal hit ratio), the following problems (i) (ii) (iii
)was there.

(i) Each outlet boat 96aS96b alternately communicates with the high pressure inlet boat % and the low pressure drain boat 98 depending on the end position where the spool 93 is located, so that the actuator is supplied from the outlet boats 96a, 96b. The pressure of the fluid oscillates, and the energy loss of the fluid also increases.

(ii) Even when the fluid in each out-left boat 96a, 96b is at the control target value, that is, when the deviation signal n is zero, the PWM drive drive signal hit ratio is % [%].
Since the torque motor 91 is energized to drive the spool 93, its power consumption increases.

(iii)) Since the torque motor 91 is constantly energized, the amount of heat generated by the torque motor 91 is large, and a member must be provided to radiate the heat generated by the torque motor 91, which increases the overall size.

(Means for Solving the Above Problems) In order to solve the above problems, a method for driving a control valve according to the present invention, as shown in FIG. 2. A control valve 13 in which a movable valve body 12 housed so as to be displaceable in two directions controls fluid by displacement. a driving means 14 that biases the movable valve body 12 to alternately move it between the neutral position and an end position in either of the two directions; and first timers 1 and 15 that set a first predetermined time.
and a second time limit means 16 for setting a second predetermined time. The first
and a second step in which the driving means 14 is energized for the second predetermined period of time in the displacement direction of the movable valve body before returning the front rotating valve body 12 to the neutral position. This is what I did.

(Function) In the method for driving a control valve according to the present invention, the movable valve body 12 of the control valve is biased by the driving means 14 to move between the neutral position and an end position in one direction, or between the neutral position and another end position. To control the fluid by alternating movement between the end position and the direction,
Fluid pressure fluctuations are reduced, fluid energy loss is also reduced, and furthermore, the time during which the driving means 14 is energized is shortened, and the amount of heat generated is also reduced. In particular, the control valve 13
When returning the movable valve body 12 to the neutral position, a biasing force in the returning direction and a biasing force in the counter-returning direction are sequentially applied to the movable valve disc, so that the movable valve disc 12 quickly and accurately returns to the neutral position. This makes it possible to improve the responsiveness and accuracy of fluid control.

(Example) Embodiments of the present invention will be described below based on the drawings.

2 to 5 are diagrams showing a method of driving a control valve according to a first embodiment of the present invention.

First, an overview of the fluid control/operation system using control valves will be explained in the second section.
This will be explained based on the diagram. In the figure, 1) is a differential amplifier that compares a target signal T and a displacement signal X and outputs a command signal C. 16 inclusive). The signal conversion circuit 22 converts the drive P based on the command signal C.
Outputs the WM signal Z to the drive circuit. The drive circuit outputs a forward or reverse drive pulse current 1p, IN based on the drive PWM signal 2 to the control valve 24. The control valve 13 controls the fluid and supplies it to the actuator 5, and the actuator section supplied with the fluid operates to drive the object.

This operation of the actuator 5 is detected by a displacement sensor 26, and the displacement sensor 26 outputs the displacement signal X indicating the operation of the actuator 25 to the differential amplifier 21. Then, as described above, the differential amplifier 21 outputs the command signal C according to the deviation between the target signal T and the displacement signal X.

Next, the control valve 13 will be explained based on FIG. 3. In addition,
Regarding this control valve 13, the applicant of the present application
Utility model registration order submitted on the 1st of the month (Utility Model Application 1987-1) 9
No. 910), the following explanation will be omitted.

In the figure, 32 is a substantially cylindrical valve body, 33 is a substantially cylindrical sleeve press-fitted into the valve body 32, 34 is a side cover fitted to the right end of the valve body 32 in the figure, and 35 is a valve. A side case is shown fitted to the left end of the body 32 in the figure, and these constitute the valve body 1) as a whole. The valve body 32 includes an inlet boat 36 connected to a pressure fluid source such as a pump, and a drain boat 37 connected to a low pressure fluid source such as a reservoir tank.
, and two outlet boats 38a, 38b connected to the actuator 25 described above.

The sleeve 33 has five annular grooves 33a, 33 on its inner peripheral surface.
b, 33c, 33d, and 33g are formed. The central annular groove 33a communicates with the inlet boat 36,
The annular grooves 33d and 33e on both sides of the annular groove 33a communicate with the outlet boats 38a and 38b, respectively, and the annular grooves 33b and 33C at both ends communicate with the drain boat 37. Note that 39 is a first stopper screwed onto the side cover 34, and the first stopper 39 is connected to the locknaft 4.
o is fixed to the side cover 34 and restricts the maximum displacement of the spool in the right direction in the figure, which will be described later. In other words, the first stopper 39 sets the maximum displacement position of the spool in the right direction in the figure, that is, the end position.

A spool (movable valve body) 41 is fitted into the sleeve 33 so as to be slidable in the left-right direction in the figure.

This spool 41 has three grooves 41C and 41d.

41e is formed, and two protrusions 41a, 41b are set by the grooves 41c, 41d, 41e. The central groove 41d communicates with the annular groove 33a, and as the spool 41 is displaced, the annular groove 33a communicates with the annular groove 33d or m33e, and similarly, the grooves 41c on both sides communicate with the annular groove 33a.
, 41d communicate with the annular grooves 33b, 33C, and as the spool 41 is displaced, the annular grooves 33b, 33
c to the annular grooves 33d and 33e, and each protrusion 41
As shown in the figure, the opening areas of the annular grooves 33d and 338 are changed according to the displacement of the spool 41. That is, depending on the displacement of the spool 41, each outlet boat 38a, 38b communicates with the inlet boat 36 or the drain boat.

At the left end of the spool 33 in the figure, inside the side case 35,
A pobbin 42 is integrally fitted.

The pobbin 42 is housed in a side case 35 so as to be movable in the left-right direction in the figure, and a substantially cylindrical air-core coil 43 connected to the drive circuit 23 is provided at the left end in the figure. This air-core coil 43 is loosely inserted into a first yoke 44 having a substantially annular shape provided in the side case 35, and a second yoke 45 having a substantially annular cross section provided in the side case 35 is loosely inserted therein. ing. The first yoke 44 and the second yoke 45 are respectively disposed adjacent to the permanent magnet 46 on both sides of the permanent magnet 46 fixed in the side case 35, and are polarized to different magnetic poles.

These air core coil 43, first yoke 44, second yoke 4
5 and the permanent magnet 46 constitute a linear motor 47 that drives the spool 41, and the linear motor 47 and the above-mentioned drive circuit correspond to the drive means 14.

A substantially cylindrical spring holder 48 screwed onto the side case 35 is inserted into the second yoke 45 , and the locknaft 4 is inserted into the second yoke 45 .
9 is fixed to the side case 35. A second stopper 50 is screwed into the spring holder 48 and fixed by a nut 51. Like the first stopper 39 described above, this second stopper 7 restricts the maximum displacement of the spool 41 in the left direction in the figure, and
Set the end position in the left direction in the figure. In addition, 52 is a first central spring compressed between the right end surface in the figure of the spring holder 48 and the left end surface in the figure of the pobbin 42;
is the ring 35a fitted to the side case and the pobin 4
The first central spring 52 and the second central spring spring urge the spool 41 to the neutral position (the position shown in the figure).

54 is a first seal provided between the pobbin 42 and the side case 35 on the left side of the spool 41 in the drawing, and 55 is a second seal provided between the right end of the spool 41 in the drawing and the side cover 34. Yes, these first seals 54 and second seals
Seal 55 prevents fluid leakage. Note that 56 is a cover.

In this control valve 13, a linear motor 47 urges the spool 41 in one direction, left or right in the figure, depending on the direction of the current applied to the air-core coil 43, and the spool 41 is activated in the direction of the current applied to the air-core coil 43. The outleft boats 33a, 3 are alternately moved or displaced between the neutral position and either the left or right end position according to the displacement of the spool 41.
Controls the fluid sent out from 8b. That is, when the spool 41 is in the neutral position, each outlet boat 38a
, 38b and, for example, when the pulse current rp in the forward direction a is applied to the air-core coil 43 and the spool 41 is located at the right end position in the figure, the outleft boat 38a
is communicated with the drain boat 37, and the out left boat 38b is communicated with the inlet boat 36 to guide high pressure fluid to the outlet boat 38b, and
When the air core coil 43 is energized with a reverse pulse current InfJ and the spool 41 is located at the left end position in the figure, the outlet boat 38a is communicated with the inlet boat 36 and high pressure fluid is supplied to the outlet boat 38a. At the same time, the drain port 38b is connected to the drain boat 37.

As the drive circuit 23, for example, one configured as shown in FIG. 4 is used.

In the figure, 61 is a control circuit that includes the above-mentioned differential amplifier 21 and signal conversion circuit 22, and a voltage signal B, which will be described later, is input to this control circuit 61 along with the above-mentioned target signal T and displacement signal X. , and the base terminals of four first, second, third, and fourth transistors 62, 63, 64, and 65 connected in a bridge shape are connected. The control circuit 61 outputs drive PWM signals Z1, Zl, Zl, and Zl having impact ratios corresponding to the signals T, x, and B in accordance with the target signal T, displacement signal X, and voltage signal B.

The first transistor 62 and the fourth transistor 65 are
Its emitter terminal is connected to the power supply (+), and each collector terminal is connected to the control valve 13 described above.

The air-core coil 43 is connected to each end of the air-core coil 43 . Similarly,
The second transistor 63 and the third transistor 64 are
Its emitter terminal is grounded, and each collector terminal is connected to each end of the air-core coil 43. These first and third transistors 62, 64 form a pair and have their base terminals connected to driving PWM signals 2. ．． 2. When you enter
The driving PWM signal 2. ．． A driving pulse current 1p in the forward direction a having an impact ratio corresponding to 2□ is applied to the air-core coil 43. Similarly, the second and fourth transistors 63 and 65 form a pair, and when driving PWM signals Z2 and Zl are input to their base terminals, the driving PWM signals Z2 and 63 and 65 are reverse-direction transistors that have an impact ratio according to factor □. The drive pulse current IN of the air-core coil 4
Apply electricity to 3.

As described above, the control valve 13 is connected to the pump 66 that discharges pressure fluid to the inlet port 36, and the reservoir tank 67 that stores fluid to the drain port 37. A power cylinder (actuator) 25 is connected to 38b.

In the power cylinder 25, a piston 69 slidably fitted into a cylinder body 68 is connected to an outlet port 3.
Two fluid chambers 70a, 70b communicating with 8a, 38b
is defined. The piston 69 has a piston rod 71
An operating object, ie, a load 72, is connected to one end of the piston mouth/throat 71, and the aforementioned displacement sensor 26 for detecting the displacement of the piston rod 71 is provided at the other end. As is well known, this power cylinder δ has fluid introduced into each fluid chamber 70a, 70b from each outlet port 38a, 38b of the control valve 13.
It does work according to the fluid pressure difference between a and 70 b.

The displacement sensor 26 is connected to the differential circuit 74 and the aforementioned control circuit 61, and outputs a displacement signal X indicating the displacement of the piston rod 71, that is, the operation of the power cylinder 5. The differentiating circuit 61 is connected to the control circuit 61 and differentially calculates the displacement signal X to output an operation speed signal λ indicating the displacement speed of the piston rod 71, that is, the operation speed of the power cylinder 25 to the control circuit 61.

A voltmeter 75 detects the power supply (+) potential, and the voltmeter 75 is connected to the control circuit 61 and outputs a voltage signal B indicating the power supply (+) potential to the control circuit 61.

As described above, in the control circuit 61, the differential amplifier 21 calculates the deviation between the displacement signal X and the target signal T and outputs the command signal C shown in FIG. Drive PWM signal with an impact ratio according to the deviation from H2. ．． 22, Z3, and Z4 to the drive circuit 23, and furthermore, when the spool 41 returns to the neutral position, the first and second predetermined times t□ and t2 are set based on the voltage signal B and the operating speed signal. Calculate the first and second predetermined times 1. ．． A drive pulse signal with a pulse width of 12 is output.

Next, the effect will be explained.

As described above, the control circuit 61 causes the differential amplifier 21 to generate a command signal C (corresponding to the deviation between the displacement signal X and the target signal T).
5), and the signal conversion circuit 22 outputs a drive PWM signal Z with an impact ratio corresponding to the deviation between the command signal C and the constant signal H.
1, Zl, Zl, Zl (FIG. 5) are connected to the cylinder 1, second, third and fourth transistors 62, 63.
Output to 64.65. Then, the drive PWM signal Z,...
Σ, the first transistor 62 and the third transistor 64 are activated according to the drive signal Z2.22, and the second transistor 63 and the fourth transistor 65 are activated according to the drive signal Z2.
,, Zl, Z4, Emi Tsuta corresponding to the impact ratio of Zl
The collectors are intermittently electrically connected, and the air-core coil 43 of the linear motor 47 of the control valve 13 is supplied with a pulse current 1p in the forward direction a or in the reverse direction. Needless to say, this pulse current is generated by driving PWM signal 2. ．． 22, Z3
, has an impact ratio corresponding to that of Z4.

Therefore, the control valve 13 controls the spool 4 as described above.
1 is energized by a linear motor 47 and moves alternately between a neutral position and an end position in one direction or between a neutral position and an end position in the other direction according to the directions a and b of the pulse current, and the power cylinder The pressure of the fluid supplied to 25 is controlled. That is, in this control valve 13, each outlet port 38, 38b communicates with only one of the inlet boats 36, 37 depending on the position of the spool 41, so fluctuations in fluid pressure are reduced and fluid flow is reduced. Energy losses are also reduced. Further, since the torque motor 47 is only energized with the pulse current 1p, 1 in the forward direction a or the reverse direction, the amount of heat generated is reduced, and there is no need to provide a special member for heat radiation. The control valve 13 can be made smaller. Further, when the pressure of the fluid supplied to the power cylinder 4 is at an appropriate value, the torque motor 47 is not energized, and its power consumption can be reduced.

To explain in detail, as shown in the timing chart of FIG. 5, for example, when the command signal C is larger than the constant signal H ((1) 1 on the left of the dashed-dotted line l in FIG. 5), the control circuit 61
The first driving pwM signal Z1 is applied to the first transistor, and the first inverted driving pwM signal Zl is applied to the third transistor 64.
Furthermore, the second inverted drive PWM signal Σ2 is output to the second transistor 63, and the second drive PWM signal Z2 is output to the fourth transistor b. Therefore, as described above, the control valve 13 causes the air-core coil 43 to receive a pulse current 1 in the forward direction a.
P is energized, and the spool 41 is urged by the linear motor 47 to alternately move (displace) between a neutral position and an end position in one direction.

That is, when the linear motor 47 is energized with the drive pulse current 1p at a high phase (approximately 1 m of current value), the spool 41 is energized by the linear motor 47 and located at the end position, and When the drive pulse current Ip is in a low phase (current value $) and the linear motor 47 is not energized,
Each central spring 52 is biased by the yoke and is in a neutral position.

Here, when the spool 41 returns to the neutral position, a pulsed drive current i in the reverse direction is applied to the air-core coil 43 for a first predetermined time t, and then a second predetermined time t is applied to the air-core coil 43. A pulsed drive current 12 in the forward direction a is applied to the air-core coil 43 during time t2. That is, in the control circuit 61, the optimum values of the first and second predetermined times t1 and t2 with respect to the operating speed of the power cylinder 4 and the power supply (+) potential are stored, and the first and second predetermined times t1 and t2 are stored. Time 1.
．． Search based on the operating speed signal AC and voltage signal B to input the optimum value of 12, and the first time 1. After outputting the first drive signal D1 with a pulse width corresponding to the pulse width and the first inverted drive signal D1 to the fourth and second transistors 65 and 63,
Second drive signal D2 with a pulse width corresponding to second time t2
and outputs a second inverted drive signal 6□ to the first and third transistors 62 and 64. For this reason, the linear motor 4
The air-core coils 43 of No. 7 are sequentially supplied with drive currents i, , i2 in the reverse direction and the forward direction a. Therefore, the fifth
As shown in the displacement X of the spool 41 in the figure, the spool 41
can quickly and accurately return to the upright position (zero), so the opening area A of each outlet port 38a, 38b has a constant value corresponding to the impact ratio of the signal Z, and there is no variation. Therefore, the accuracy of fluid control by the control valve 13 is improved, and its responsiveness can also be improved.

Furthermore, even if the command signal C is smaller than the constant signal H (on the right side of the dashed line Since the drive current i, , 12 is applied for the first and second predetermined times t1) and t2, the spool 41 can quickly and accurately return to the neutral position. However, in this case, as shown in the figure, it goes without saying that the direction of the drive current il, 12 is opposite to that in the above case.

In the above embodiment, the voltage of the electric a (+) and the operating speed of the piston rod 69 of the power cylinder 25 are detected, but the voltage between the terminals of the air-core coil 43 and the workpiece etc. driven by the power cylinder 25 are detected. It is also possible to detect the motion speed of a motion target).

Further, other embodiments of the invention will be described.

Hereinafter, the same parts as in the first embodiment described above will be given the same reference numerals, and the explanation will be omitted.

First, a second embodiment will be described based on FIG.

As shown in the figure, a resistor 80 having a minute resistance value is connected in series to the air-core coil 43, and both ends of the resistor 80 are connected to a differential amplifier 81. The differential amplifier 81 includes a resistor 8
0, that is, the value of the current supplied to the air-core coil 43, and outputs a current signal J indicating this current value to the control circuit 61. The control circuit 61 determines the first and second predetermined times t1 and t2 based on the current signal J and the peak of the operating speed signal by searching or calculating using an approximation function.

Even in this second embodiment, the spool 41 of the control valve 13
can return to the neutral position quickly and accurately, improving the accuracy and responsiveness of fluid control.

FIG. 7 is a diagram showing a third embodiment.

In the figure, 82 is a displacement speed sensor that detects the displacement speed of the spool 41 of the control valve 13.

The displacement speed sensor 82 is composed of, for example, a permanent magnet attached to the spool 41 and a detection coil attached to the side case 35, and sends a valve speed signal y indicating the displacement speed of the spool 41 to the control circuit 61. Output to. The control circuit 61 determines the first predetermined time t1 based on the operating speed signal; and the voltage signal B, and also determines the second predetermined time t2 based on the valve speed signal 9. That is, the first predetermined time t for biasing the spool 41 in the direction opposite to the direction in which it returns to the neutral position is determined based on the operating speed signal and the voltage signal B, as in the first embodiment, and the spool A second predetermined time t2 for urging the valve 41 in the direction of returning to the neutral position is determined based on the valve speed signal.

In this third embodiment as well, accurate and quick control can be performed in the same way. In particular, since the displacement speed of the spool 41 is directly detected, even more accurate control is possible.

FIG. 8 shows a fourth embodiment.

As shown in the figure, each pipe connecting the control valve 13 and the power cylinder δ is provided with a first pressure sensor 85 and a second pressure sensor 86, respectively, which detect the pressure of the fluid flowing in the pipe. ing. These first pressure sensors 85
The second pressure sensor 86 is connected to a comparison circuit 87 and outputs a signal indicating the fluid pressure in the pipe to the comparison circuit 87. The comparison circuit 87 compares the output signals of the first and second pressure sensors 85 and 86, and outputs a differential pressure signal P corresponding to the difference between the signal values, that is, the fluid pressure difference between the respective pipes, to the control circuit 61. The control circuit 61 determines the first and second predetermined times t1 and t2 by searching or calculating based on the operating speed signal, the voltage signal B, and the differential pressure signal P.

Needless to say, even in this fourth embodiment, accurate and rapid fluid control is possible.

In addition, in each of the above-mentioned embodiments, the control valve 13 that energizes the spool 41 by the linear motor 47 is described.
It goes without saying that the present invention can also be applied to a nozzle/flapper type servo valve having a torque motor like the conventional control valve 13.

(Effects of the Invention) As explained above, according to the control valve driving method according to the present invention, the movable valve body of the control valve is moved alternately between the neutral position and the end position in any one direction. With,
When returning the movable valve body to the neutral position, pressure fluctuations in the fluid supplied to the actuator are used to sequentially bias the movable valve body in the direction promoting return and in the opposite direction for a first and second predetermined time period, respectively. It is possible to reduce the energy loss of the fluid and the power consumption required for driving is reduced, and the amount of heat generated is also reduced.Furthermore, the movable valve body can return to the neutral position accurately and quickly, making it possible to accurately Moreover, quick fluid control becomes possible.

[Brief explanation of the drawing]

Figure 1 is a schematic diagram for clearly explaining this invention, Figures 2 to 5 are diagrams showing an embodiment of this invention, Figure 2 is a diagram of a professional valve, and Figure 3 is a diagram of a control valve. 4 is a circuit diagram, and FIG. 5 is a timing chart. Figures 6 to 8
The figures are circuit diagrams, and FIG. 6 shows the second embodiment, FIG. 7 shows the third embodiment, and FIG. 8 shows the fourth embodiment. FIG. 9 and FIG. 10 are diagrams showing the prior art, and FIG. 9 is a sectional view;
FIG. 10 is a timing chart. 1)...Valve body, 12--Movable valve body, 13--Control valve, 15--First timer means, 16--Second timer Means, 25-... actuator (power cylinder),
41--m-spool, 43-- air core coil, 47-- linear motor, 61-- control circuit, 74-- differential circuit, 75----- -Voltmeter, 80--Resistor, 81--Differential amplifier, 82--One displacement speed sensor, 85--First pressure sensor, 86--No. 2-pressure sensor, 87... Comparison circuit.

Claims (6)

[Claims] (1) A movable valve body housed in a valve body so as to be displaceable in two directions with reference to a neutral position is biased by a driving means to move between the neutral position and an end position in one direction or between the neutral position and an end position in one direction. In a control valve that alternately moves between one position and an end position in the other direction to control fluid, when returning the movable valve body to the neutral position, the driving means moves the movable valve body. 1. A method for driving a control valve, which comprises biasing the movable valve body for a first predetermined time period in the direction of return, and then biasing the movable valve body for a second predetermined time period in the direction of displacement of the movable valve body before the return. (2) The driving means is supplied with electric power to energize the movable valve body, and the driving means is configured to energize the movable valve body for the first predetermined time and the second predetermined time depending on the voltage applied to the driving means. The scope of claim No. 1 (
1) The method for driving the control valve described in section 1). (3) The drive means is supplied with electric power to energize the movable valve body, and the drive means is configured to energize the movable valve body for the first predetermined time and the second predetermined time depending on the current value supplied to the drive means. Claim No. (1) characterized in that it is variable.
2. Method for driving the control valve described in . (4) the first predetermined time and the second predetermined time,
The method of driving a control valve according to any one of claims 1 to 3, characterized in that the method is variable based on the operating speed of an actuator that is operated by being supplied with fluid from the control valve. (5) The driving means is supplied with electric power to energize the movable valve body, and the first predetermined time period is the voltage applied to the driving means and the fluid being supplied from the control valve. The second predetermined time is variable based on the operating speed of the actuator that operates, and the second predetermined time is a period from when the first predetermined time ends until the speed of the movable valve body becomes equal to or less than the predetermined speed. A method for driving a control valve according to claim (1), characterized in that: (6) The drive means is supplied with electric power to urge the movable valve body, and the first predetermined time and the second predetermined time are controlled by the voltage applied to the drive means and the operation of the actuator. The method of driving a control valve according to claim 1, wherein the control valve is variable based on the speed and the fluid pressure supplied from the control valve to the actuator.