JPS62118103A - Actuator controller - Google Patents

Abstract

PURPOSE:To reduce consumption of pressure fluid to be used by providing means for blocking in accordance with the magnitude of a pressure difference signal in plural actuator controllers connected in parallel with an actuator. CONSTITUTION:Plural upstream side solenoid throttle valves 1081u-108nu and downstream side solenoid throttle valves 1081l-108nl are connected in parallel with an actuator 109 while switch elements 1051-105n functionable in accordance with the magnitude of a differential signal between a pressure target level and a detected pressure level are connected to said valves 1081u-108nu and 1081l-108nl. Since the number of solenoid valves to be used can be varied in accordance with the magnitude of the differential pressure signal, consumption of pressure fluid to be used can be suppressed.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an actuator control device, and more particularly to an actuator control device that controls an actuator operated by the inflow and discharge of pressure fluid.

[Conventional technology]

When positioning an actuator that operates by inflowing and discharging pressure fluid and requires a large flow rate, a method is used in which multiple fluid control wells are connected in parallel and driven by the same signal. (Japanese Unexamined Patent Publication No. 58-602).

[Problem that the invention seeks to solve]

In the conventional example above, even when the actuator is stopped.

Since all valves are in motion, power and fluid consumption increases in proportion to the number of valves, and the lifespan of the entire system also increases.
This was equivalent to the lifespan of a single valve or power amplifier.

The present invention relates to a control system that drives and controls an actuator using a plurality of fluid control valves connected in parallel.
It is an object of the present invention to provide an actuator control device with low fluid consumption and low power consumption.

[Means for solving problems]

The above object of the present invention is achieved by providing a plurality of actuator controllers connected in parallel to the actuator with means for closing the actuator controllers depending on the magnitude of the pressure deviation signal.

[Operation] The closing means closes multiple actuator controllers connected in parallel to the actuator depending on the magnitude of the pressure deviation signal, changes the number of actuator controllers used, and reduces the amount of pressure fluid used. suppress.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows an example of the control device of the present invention. In this figure, 101 is a target value signal generator, which generates a pressure target value signal r, and is, for example, an electronic calculator. 102 is a subtracter which subtracts the pressure feedback signal S from the pressure target value signal r to produce a pressure error signal θ. An amplifier 103 converts the pressure error signal e into a solenoid valve number regulation signal ea to be supplied to the solenoid valve selection signal generator 104. 105
1 to 105n are switch elements, for example, relays, which transmit the pressure error signal e to the HI level of the solenoid valve selection signals G, to Gn from the solenoid valve selection signal generator 104.

According to LO, 0N-OFFL, valve opening command signal e 1
6106 that outputs "" 8 n is the valve opening command signal e
107 is a pressure fluid supply source, 1081u to 108nu are upstream electromagnetic throttle valves, and 1081Q to 108nQ are downstream electromagnetic throttle valves. The intermediate pressure is controlled by appropriately combining the valve opening degrees.1
o9 is an actuator, which is composed of a piston and a cylinder having return force generating means using a spring, for example, and can obtain a displacement output proportional to the pressure of the inflowing fluid.

Reference numeral 110 denotes a pressure detection means, for example a semiconductor pressure sensor, which detects the pressure pc inside the actuator and outputs a pressure feedback signal.

111u to 1lnu and 111Q to 11nQ are rectifiers that respectively supply the positive side component of the signal to the upstream electromagnetic valve and the negative side component to the downstream electromagnetic valve.

FIG. 2 shows details of the solenoid valve selection signal generator 104 constituting the device of the present invention, and in this figure, 20
1 is a voltage-frequency converter 202 that converts the solenoid valve number regulation signal θG into a rectangular wave f having a pulse width proportional to 8Q;
is a counter control device 20 that generates count start command signals 81 to Sn to each counter 2031 to 203n;
31 to 203n are counters that count the rectangular wave f from the time when the count start command signals S to Sn are input, and count up to a certain value, and during counting, the output is the solenoid valve selection signal GL. Gn is high, and G1 to G are low until the count ends and the next count start command signal goes high.

FIG. 3 shows a counter control device 20 constituting the device of the present invention.
This figure shows the details of 2. In this figure, 301
is a resistor, and 302 is a capacitor, which constitutes a reset circuit at power-on, and each logic circuit 3041
304n, a reset signal is supplied for a certain period of time when the power is turned on, and at the same time, a low level signal is supplied to the logic circuit 303 for a certain period of time. 303 is a logic circuit;
An exclusive AND operation is performed on the reset signal at power-on and the inverted output signal of the logic circuit 304n, and the output of the operation result is supplied to the logic circuit 3041.

3041 to 304n are logic circuits, and in the figure, D at the rising edge of the rectangular wave supplied to the signal CK.
This is a D-flip-flop that checks the signal given to Q and outputs a signal equal to that signal to Q.

305 is an oscillation base that supplies a rectangular wave to each D-flip-flop; 3061 to 306n are capacitors; 307
1 to 307n are resistors, and with this pair of elements,
It forms a differential circuit. Reference numerals 3081 to 308n are constant voltage diodes, which remove negative pulses after differentiation and at the same time limit the voltage of the output signal of the differentiating circuit to generate the count start command signal Sz"S-.The circuit configuration shown in FIG. 3 above Accordingly, pulse signals are sequentially output from 81 to S9 at timings corresponding to the oscillation frequency of the first oscillator 305.

Incidentally, the relationship between signal GK and signals Sl to Sn is as shown in FIGS. 4 and 5.

Next, the operation of the solenoid valve selection signal generator 164 shown in FIG. 2 will be described. The solenoid valve number regulation signal ea output from the amplifier 103 increases or decreases as the pressure error signal e increases or decreases. This solenoid valve number regulation signal e.

is converted into a rectangular wave train f by the voltage-frequency converter 201, the period of which increases or decreases in proportion to the electromagnetic valve number regulation signal eQ. This rectangular wave f is applied to counters 2031 to 203.
n. The counters 2031 to 203n receive a count start command signal S l from the counter control device @202.
Controlled by Sn, the counters 2031 to 203n count the rectangular waves f from the point in time when the levels of 81 to Sn shift from low to high.

This counter counts up to a certain value and outputs 0
1 to Gn are high during counting, and are low from the end of counting until the next count start command signal 81 to Sn is applied. As a result, the solenoid valve selection signal Gx''-Gn, which is the output signal of the counter, is the solenoid valve number regulation signal so
The count start command signals 81 to 81 are rectangular waves having a duty proportional to , and the period thereof is defined by the count start command signals St to Sn. 01~G
, are sequentially output at the same timing, and return to Gl again as soon as the solenoid valve selection signal Gn is output. Above, the square wave f.

Count start command signal 81 to Sn, solenoid valve selection signal 61
The relationship between .about.Gn is as shown in FIGS. 4 and 5. Incidentally, FIG. 5 shows a case where ea is larger than the case of FIG. 4.

The operation of the control device of the present invention will be described below.

The target value generator 101 outputs a pressure target value r. This pressure target value r is subtracted by the pressure feedback signal S from the pressure detection means 110 by a subtracter 102, and becomes a pressure error signal e, which is supplied to an amplifier 103, where it is converted into a solenoid valve number regulation signal eQ, and simultaneously supplied to an amplifier 106. and solenoid valve 108
1 u to 108 nu.

1081Q~108nn is amplified to a value that can drive the solenoid valve drive signal V, and each switch element 1051~
105n. Each switch element 1051-10
5n generates the solenoid valve drive signal V ON-OFFL according to the high/low states of the solenoid valve selection signals G1 to Gn, and the solenoid valve 1 drive signal v1 to solenoid valve n drive signal vn for each solenoid valve. These solenoid valve drive signals v1 to vn are supplied to the rectifier 111u.
~1lnu, 11112~11n12, upstream and downstream electromagnetic throttle valves 1081u~108
The upstream and downstream electromagnetic throttle valves 10 are divided into signals that drive n u , 1081Q to 108 n Q.
81u-108nu, 1081Q ~108n
Drive Q. Thereby, the pressure inside the actuator 109 is controlled and the cylinder is driven. here,
When one or more of the solenoid valve selection signals Gx''Gn is low, the corresponding switch element 10
51 to 105n output ground levels as electromagnetic valve drive signals v1 to Vn. When this solenoid valve drive signal reaches the ground level, the corresponding upstream and downstream solenoid throttle valves are completely closed, that is, the solenoid valve selection signal G
1 ” If one or more G- is low,
The corresponding electromagnetic throttle valves are closed on both the upstream and downstream sides. Therefore, the number of electromagnetic valves equal to the number of high levels of the electromagnetic valve selection signals G1-Gn are driven, and both the upstream and downstream sides are completely closed otherwise, and the number of electromagnetic valves can be controlled.

By configuring the cylinder control device with the above configuration, the number of solenoid valves can be freely changed, so the amount of pressure fluid used can be reduced. By using a type throttle valve, it is not necessary to supply power to the solenoid valve whose solenoid valve selection signal is LO, so power consumption can be reduced.
Furthermore, since the rest time for one valve is increased, durability is improved.

In addition, in the above-mentioned embodiment, as an actuator,
Although a single-acting cylinder is used, the present invention can also be applied to a single-elastic cylindrical actuator.

〔Effect of the invention〕

According to the present invention, the number of fluid control valves used can be changed depending on the magnitude of the pressure error signal, so the consumption amount of the pressure fluid used can be kept small.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the configuration of an example of an actuator control device of the present invention, FIG. 2 is a circuit diagram showing details of a solenoid valve selection signal generator constituting the device of the present invention shown in FIG. 3
The figure is a circuit diagram showing details of the counter control device in Figure 2, and Figures 4 and 5 are the relationships between the rectangular wave f, count start command signals 81 to Sn, and electromagnetic valve selection signals Gl to Gn in the present invention. FIG. 2 is a signal waveform chart showing two types of solenoid valve number regulation signal eO by changing the number of solenoid valves. 101...Target value signal generator, 102...Subtractor,
103...Amplifier, 104...Solenoid valve selection signal generator, 1051-105n...Switch element, 106...
··amplifier. 107...Pressure fluid supply source, 1081u to 108n
u...Upstream electromagnetic throttle valve, 1081 Q~108n
Q...Downstream electromagnetic throttle valve, 109...Actuator, 110...Pressure detection means, 111u to 11nu
, IIIQ~11nQ... Rectifier, 201... Voltage-frequency converter, 202... Counter control device, 20
31-203n... Counter, 301... Resistance element, 302... Capacitor, 303... Exclusive AND circuit, 3041-304n... D-flip-flop, 305-° oscillator, 3061- 306 n −=I
capacitor element, 3071-307n...resistance element, 3
081-308n... Constant voltage diode element. 101 fig.
----1-L-"-shi"-1-ecr=e#1

Claims (4)

[Claims] 1. In an actuator control device that controls an actuator controller based on a deviation signal between a pressure target value and a detected pressure value, and controls the operation of the actuator using pressure fluid from the actuator controller, the actuator controller is connected to the actuator. 1. A control device for an actuator, characterized in that a plurality of actuator controllers are connected in parallel to each other, and a means for closing the actuator controllers is connected in accordance with the magnitude of a pressure deviation signal. 2. The actuator control device according to claim 1, wherein the means for closing the actuator controllers comprises a switch that closes some of the actuator controllers depending on the magnitude of the pressure deviation signal. A control device for the actuator. 3. In the actuator control device according to claim 1, the means for closing the actuator controller is constituted by a switch that drives each actuator controller intermittently depending on the magnitude of the pressure deviation signal. actuator control device. 4. 4. The actuator control device according to claim 2, wherein the actuator controller is a normally closed solenoid valve.