JPS62194011A - Pressure control device - Google Patents

Abstract

PURPOSE:To improve operation characteristic of an actuator by performing automatic measurement of dead band and correction of drive signals in the mounted condition. CONSTITUTION:One or more fluid control electromagnetic valves 107u, 107l are respectively placed on the fluid supply side and the fluid discharge side of an actuator to form a pressure control device for controlling fluid pressure to the actuator by operating the valve opening of the electromagnetic valves 107u, 107l respectively. A measurement means measuring the characteristics of the electromagnetic valves 107u, 107l by means of the supply fluid pressure to the actuator is provided on the pressure control device, and based on the characteristics of the electromagnetic valves 107u, 107l obtained, a means for correcting signals driving the electromagnetic valves 107u, 107l is provided. By this construction, electromagnetic valves can be used without considering fine characteristic, deterioration, etc. of individual valve, and operation characteristic of the actuator can be improved.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a fluid pressure control device, and particularly to a fluid pressure control device that operates a solenoid valve provided on a fluid supply side and a fluid discharge side of an actuator operated by pressure fluid to operate an actuator. The present invention relates to a pressure control device for controlling the supply pressure of.

[Conventional technology]

Conventionally, as a pressure control device for operating an actuator such as an m-type cylinder, for example,
As described in pages 94 to 99 of 11 Keiki Mekki Nical published by Japan, there is a method in which electro-pneumatic proportional valves are arranged on the fluid supply side and the discharge side to the actuator to control the intermediate pressure. By properly performing electrical compensation, this device
It is possible to control air pressure with high precision.

[Problem that the invention seeks to solve]

In the above conventional technology, no consideration is given to adjusting the amount of wrap of the valve, so it is difficult to create O-wrap characteristics for the valve, and even if O-wrap characteristics can be created by electrical compensation, There was a problem in that the wrap characteristics of the valve were shifted due to deterioration or replacement of the valve, resulting in changes in the operating characteristics.

The present invention aims to provide a pressure control device that can automatically set the wrap characteristics of the valve and maintain the operating characteristics of the actuator.

[Means for solving problems]

The above object of the present invention is to provide one fluid supply side and one fluid discharge side to an actuator such as a single-acting cylinder.
In a pressure control device, one or more fluid control solenoid valves are arranged, and the valve opening of each of these solenoid valves is manipulated to control fluid pressure to an actuator. This is achieved by comprising a measuring means for measuring the characteristics of the valve, and a means for correcting a signal for driving the solenoid valve based on the characteristics of the solenoid valve obtained by the measuring means.

[Effect]

The measurement means is based on the fluid pressure to the actuator when the solenoid valve on the supply side or the discharge side is driven with a constant signal, or when the drive signal of the other solenoid valve is gradually changed while no signal is applied. The areas where this pressure changes in accordance with the magnitude of the drive signal and the areas where it does not are moistened, and the sizes of the dead zones on the supply side and discharge side of the valve are determined. Based on the size of this dead zone, the correcting means compensates the drive signal to eliminate the dead zone, thereby maintaining the valve with zero lap characteristics.

〔Example〕

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

FIG. 1 shows an air cylinder device equipped with an embodiment of the pressure control device of the present invention, and in this figure, 101
is a position target value signal generator which outputs the position target value r, and is, for example, a microcomputer. 10
Reference numeral 2 denotes an amplifier, which in this embodiment converts the position target value r into the pressure target value r-. A subtracter 103 calculates and outputs a pressure error signal ap based on the pressure target value rp and the pressure feedback amount. 104 is an offset signal setting device which outputs a switching signal R6 to switch the changeover switch 111 and the changeover switch 112. Also,
Solenoid valve test signal rt1! Output st.

By monitoring the behavior of the pressure feedback signal at this time,
Offset signal of fluid supply side and fluid discharge side Of u
and Of L are calculated and output. 105U is a subtracter that subtracts the pressure error signal e2 from the supply side offset signal Of u to obtain the supply side valve opening signal S.

Output. 10512 is an adder which adds a discharge side offset signal Of to the pressure error signal Qp and outputs a discharge side valve opening signal S1. 106u and 106Q
In this example, the PWM signal generator is a PWM signal generator.
M is a solenoid valve 107u.

In order to drive 107Q, PWM signals Vu and Vm having a duty proportional to signals SU and S are output. 107u and J 07fl are if! The magnetic valve field is driven by the rlWM signals Vυ and V. Since this electromagnetic valve is a normally open valve that is completely closed when the duty is 100 (%), the valve opening degree with respect to the duty has characteristics as shown in FIG. In other words, the duty is around 〇 (%) and 100 (
%) has a dead zone in the vicinity. Reference numeral 108 denotes a pressure fluid supply source, which in this embodiment outputs an air pressure Ps. A pressure detector 109 detects the pressure P and outputs it as a pressure feedback signal. 110
is a single-acting actuator, and in this embodiment, it is an air cylinder having a reaction force generating means using a spring, and can obtain a displacement proportional to air pressure. 1.11 and 112 are changeover switches, and the switches are changed over by the changeover signal Rn. The switch 111 changes over the position target value signal r and the solenoid valve test signal rtcxt, and the switch 112 changes over the pressure feedback signal. A selection is made whether to lead to the subtracter 103 or to the offset (rt number setting device 104).

FIG. 2 shows details of the offset signal setting device used in the present invention. In this figure, 201 is an arithmetic and control device that performs control calculations for this offset signal setting device, and 202 is a D/A converter that converts digital signals into analog signals, converting digital signals given by a data bus into addresses. According to the information, the supply side offset signal ○fυ, the discharge side offset signal Ofa, and the solenoid valve test signal rtest are respectively converted and output.

203 is an A/ that converts an analog signal into a digital signal.
This is a D converter that converts the pressure feedback signal into a digital signal and loads it onto the data bus.

A storage device 204 is composed of, for example, a ROM and a RAM, and stores offset signal setting means and the like.

205 is a relay output, which drives the switch 111 and the switch 112 by the switching signal Ro. A console 206 includes, for example, an LED display and one or more switches, and constitutes a man-machine interface.

Next, the operation of one embodiment of the above-mentioned apparatus of the present invention will be explained.

During normal operation, switch 111 is in position 11 target value generator 10
1 side, and the switch 112 is switched to the subtracter 103 side. 1. The position target value signal generator 101 generates the position target value signal r. 6. The position target value signal r is switched to the amplifier 102.
is converted into a pressure target value signal t''p, which becomes a target value for the pressure control device of the present invention.Pressure I4 target value signal rp
is calculated by the subtractor 103 from the pressure target value rp to the pressure feedback M
An operation is performed to subtract kb, and the pressure feedback signal ep
and is supplied to the subtractor 105u on the supply side and the adder 105Q on the discharge side, respectively. The subtracter 111 is O
The operation of fυ-Op, the adder 112 is Of a + e-
These calculations are performed to generate a supply side valve opening signal Su and a downstream valve opening signal S.

Furthermore, the signal Sg and the 8th plate are PW on the supply side and the discharge side.
The fn signal Sυ is generated by the M signal generator 106u and 1.06Q.
g PWM m number with duty proportional to SR■
υ, Va, and drives the supply side solenoid valve 107u and the discharge side solenoid valve 10'll.

The pressure P is controlled by these two solenoid valves.

Here, it is desirable that the relationship between the opening degrees of the solenoid valves on the supply side and the discharge side with respect to the pressure error signal e is as shown in 702 in FIG. 7. That is, when the pressure error signal e- is zero, And the valve opening on the discharge side is 0, and e >
In the case of O, only the solenoid valve 107u on the supply side is always open, and in the case of C<0, only the solenoid valve 107Q on the discharge side is always open. At this time, the air consumption , hysteresis are both at their lowest, which is an ideal state. In order to achieve this zero-lap characteristic with the solenoid valve having the characteristics shown in Fig. 3, it is necessary to provide the duty PWM signal (in response to the error signal shown in Fig. 8) to the supply side and discharge side solenoid valves 107u and 107Ω, respectively. As long as the supply-side duty correction amount euahe and the discharge-side duty correction amount 8ash are determined, the pressure control device using this solenoid valve will have zero-lap characteristics. The pressure control device of the present invention automatically determines this correction amount f9ush*omsh and automatically performs the correction.

Note that the valve opening degree referred to here is 1 equivalent valve opening degree.

That is, since the electromagnetic valve is driven by a PWM signal, when paying attention to the flow rate, it appears that the valve opening degree is changing.

Hereinafter, the means for training the duty-anE ush and e ash in the control baggage according to the present invention will be explained with reference to FIG. 7 and FIGS. 4 to 6.

First, offset signal setting device i! Reference numeral 104 indicates supply side and discharge side offset signals Ofu, Of Q';tex in response to commands from the console 206.

PWM signal generator LO6u, 106ffi is S t+≧
al.

Since a 100% duty signal is generated when S, ≧e, in this case, the duty on the supply side and discharge side for the pressure error signal e- is as shown in Fig. 4, and the valve opening for the pressure error signal θP is as follows. The degree shows the behavior shown in Figure 5. That is, the large insensitivity of the error signal Q m5h-e ur,b
It exhibits a three-way valve characteristic with F. Hereinafter, the pressure error signal eP is changed to
Q (il() is assigned. This value of eo is
It is a negative value that is sufficiently smaller or larger than eash, and is 1, for example, at the position shown by eo in FIGS. 5 and 6. Next, in step 601, control calculations are performed on the supply side.

The discharge side solenoid valves 107u and 107fl are driven.

In this case, as shown in Figure 5, the opening degree of the supply side valve is O (%).
The discharge side valve opening is from several (%) to 100 (%),
Since only the supply side solenoid valve is open, the control pressure P becomes atmospheric pressure Po. That is, according to steps 602 and 601, the process waits until the control pressure P becomes atmospheric pressure Pa. When the control pressure P becomes atmospheric pressure pn, Δε is added to the pressure error signal QP in step 603, and control calculation is performed in step 604. This Δε is an appropriately determined value,
Decreasing Δε improves the accuracy of the error signal Qi3h+Ch, but on the other hand, it takes time.

The opposite is true when Δε is increased. Therefore, for example, an appropriate value obtained by dividing the predicted value of the error signal 6u41h or f5tsh into several thousand or thousands is used.

Next, in step 605, a comparison is made between the control pressure P and the pressure Pos.6 When the pressure error signal e is gradually swept in the positive direction in step 603, the control pressure P exhibits the behavior shown in FIG. As shown in Fig. 5, when e=euxh is passed, only the supply side solenoid valve opens and the discharge side solenoid valve remains closed, so the pressure suddenly stops. Therefore, the point in time when the control pressure P becomes greater than the pressure POI is regarded as e ush , the determination in step 605 is passed, and ep at this point is stored as Q ush in the storage device 204 . Note that the pressure POI compared with the control pressure I) determined in step 605 is a value close to the atmospheric pressure Po, and for example, an appropriate value of the number (%) of the supply pressure Ps is used. Then steps 607 and 60
8, the process is forced to wait until the control pressure becomes equal to or higher than the constant pressure P&.

Next, by step 609, the pressure error signal ep is set to 0,
Control calculations are performed by hand 610, and the supply side and discharge side solenoid valves 107u and 107Q are driven. That is, both the supply side and discharge side valves are closed, and there is no change in pressure at this point.The pressure Pa is set to the current pressure P in step 611. Next, by hand M612, ΔC is subtracted from i%p and a control calculation is performed in step 613. Note that this Δε is Δε in 1 step 603
This is the value determined in the same way as . Next, in step 614, the control pressure P and the pressure Paw are compared.

If P is greater than or equal to I'ai, the process returns to step 612, ΔE is subtracted from the pressure target value OF, and control calculation is performed in step 5 613. Note that this Pas is, for example, the pressure Pa
This is an appropriate value obtained by subtracting the number (%) of Pa. Through the steps 612, 613, and 614 described above, the pressure error signal 6F is swept from 0 in the negative direction. Pressure error signal ep is 6aib
At the point in time, the discharge side begins to open, the air inside the actuator 110 is rapidly discharged, and the control pressure P also decreases rapidly. When the control pressure P becomes lower than the pressure Pa, the process moves to step 615, where the current pressure error signal op is set as the downstream duty correction amount 6ash, and the storage device i! Save it to 204. The process further proceeds to steps 616 and 617, the supply side solenoid valve 107u is in a closed state, the discharge side solenoid valve is in an open state, and the internal pressure of the actuator 110 becomes equal to the atmospheric pressure Pa. Further step 6
18, 619, the supply side and discharge side duty correction amounts Qush and emsh are respectively subtracted from the supply side and discharge side offset signals Ofυ and Of1, and the setting of the supply side and discharge side offset signals is completed. The behavior of the duty-2 valve opening degree with respect to the pressure error signal Op at this point is as shown in FIGS. 8 and 9.

As a result, the dead zone of the valve opening with respect to the pressure error signal ep disappears, and ideal zero-lap characteristics can be obtained.

A second embodiment of the apparatus of the present invention will be described with reference to FIGS. 10 to 15.

FIG. 10 shows an actuator device having another example of the pressure control device of the present invention, and the same reference numerals as in FIG. 1 indicate the same parts. 801u and 801Q are PWM
It is a signal generator, and increases or decreases the duty gain for the valve opening signal depending on the magnitude of the amplification signals Gυ and G1 from the offset signal setting device 802. 80
2 is an offset signal setting device, and this device 802 is the first
For each PWM signal generator 106u, L-06Q in addition to that shown in the illustrated device 104.

In order to output the amplification signals Gυ and Gt, the D/A converter has five output lines in total.

The configuration of this offset signal setting device 802 is shown in FIG. The driving method of the electromagnetic valve is exactly the same as in the first embodiment, and the only difference is the dead zone detection means and its correction means. This will be explained in detail below. In this embodiment, the procedure shown in FIG. 14 is used to obtain the values of duty -0- and Sh in FIG. 3. First, in step 1101, the pressure error signal ep is set to zero. Furthermore, by steps 1102 and 1103, the amplification degree signal Gυ
and G are 1. These amplification signals GU and G,
is the amplification factor of the amplifier inherent in the PWM signal generation $11106u-106, and as a result, the valve opening signal Sυ
and S are multiplied by Gυ or 06 and are equivalent to those supplied to the PWM signal base in FIG. Furthermore, in step 1104, ax/2 is output as the discharge side offset signal Of. This is because the pressure error signal 13p is set to zero, so the discharge side PWM signal generator 106Q
supplied to

Next, in step 1105, the supply side offset signal Ofυ
Zero is output to the supply and discharge side solenoid valves 107u by the control calculation in step 1106.

PWM signals Vu and V are supplied to L O7m, and at this point, the supply side solenoid valve 107u is fully open at duty ○, and the discharge side solenoid valve 107Q is at duty.
Driven at 50(%). Below, supply side valve opening signal SO
From duty-〇(%), duty-100(%)
) and investigate the behavior of the pressure.
The value of the supply side valve opening signal Su at the positions of Opu and Shu in Fig. 1 is determined, and the procedure is as follows in the 14th
This is represented by steps 1107 to 1120 in the figure. In step 1107, variable SW is defined as 1. This variable SW is, for example, a storage device! l! 204 and used in the judgments in steps 1113 and 1116. 1. In the loop of steps 1108 to 1119, steps 1118 and 1115 are executed only once, and 2.
0 step 1 08, which is used as a mark to prevent the operation from the first time onwards, converts the current control pressure value P to the previous pressure value BP.
In other words, the BP is updated. Step 1
109 is for adding ΔE to the value of the supply side offset signal Ofυ. This Δb is an appropriate value obtained by dividing the value of 1, for example e, into several thousand or thousands, and if Δi is large, Opu
Although the measurement of sbI and sbI can be done in a short time, the accuracy decreases.
Conversely, when Δε is small, measurement takes time but improves accuracy.

Next, control calculations are performed in step 1110, and the supply side and discharge side electromagnetic valve drive signals Vu=va are updated.

However, since the discharge side offset signal Of is not operated, the discharge side solenoid valve 107Q has a duty of -50 (
%) remains driven by the PWM signal Vt of 0
Next, in step 1111, the updated current pressure value P is subtracted from the previous pressure value BP.

The pressure difference DP is found. From FIG. 11, one procedure 1112 in which DP≧O is a comparison between the pressure difference and the constant ΔK1. Δεl is the value obtained by multiplying the value of the slope between 80 and 0 in FIG. 11 by ΔC, and for example,
It is a value obtained by multiplying 1/2 of the absolute value of the slope between 80 and ΔC. In the section A B of FIG. 11, there is no gradient of pressure change, so DP=O, and the process proceeds to step 1116. In step 1116, the variable SW is checked, but according to step 1107, SW ÷ 1 Therefore, the process proceeds to step 1119, and since Of u< e p, the process proceeds to step 1108. In the 6-section AR, DP>Δ is reached when 6 points B, where 1 or more processes are performed, are reached.
gi, so the process proceeds to step 1113.Furthermore, at this point, since the variable sw=i, step 111
3 to step 1114. 0 steps 11 leading to step ttts
In step 14, the variable SW is redefined to 0, and from then on, processing is done manually M
1114.1115 will not be passed through. Further step 1115
By setting the current value of the upstream offset signal Ofu as the variable OPυ, the storage device TI! 1204.

Thereafter, in section BC, the process is in steps 1112 and 1113.
゜1119, At the point when it reaches 0 point C which is done with ttog.

Since DP<ΔE1 in 1112, the process is performed in step 1.
Proceed to 116. Here 1 move is 5 by jlill14
Since W=O remains, the procedure is 1117.111
In the 0 step 1117 proceeding to step 8, 1 is defined in the variable SW.
7゜ttta will no longer pass. In step 1118, the current value of the upstream offset signal Ofυ is set as a variable 5hfl, and sshn is set by 8 or more stored in the storage device v1204.
and OPU are determined, and Gυ is determined by step 1120. Furthermore, the supply side offset signal Of u is determined by step 1121. Furthermore, this Gυ and Of u
The corrected figure is shown in FIG. The dotted line indicates the duty of the ttt magnetic field signal Vυ for the valve opening signal Su after correction, and the solid line indicates the duty before correction. The discharge side solenoid valve also drives the supply side solenoid valve with a constant duty, and by sweeping the discharge side valve opening signal St,
oPl and Sbt are found. However, the behavior of the pressure when the discharge side duty is operated is as shown in FIG. 12.

From the above results, zero-lap characteristics can be obtained by correcting the PWM signal generation on the supply side and the discharge side. 1301 shows the relationship between the valve opening degree and the error signal before and after the correction. The part indicated by the thick line in FIG. 6 is the value after the correction, and
Unlike the embodiment, it is possible to correct not only the dead zone but also the slope of the valve opening with respect to the pressure error signal 8p.

Furthermore, a third embodiment of the present invention will be described using FIGS. 18 to 20. Note that the same symbols are used for those explained in FIG. 1 and FIG. 2, and the explanation will be omitted. In Figure 18,
1401 is the setting device f? in FIG. The offset signal setting device corresponding to t104 is the setting device F;
i l In addition to the functions of O4, position setpoint value signal generator 1
01, a function to output the stop E 4M "jPause, a function to monitor the pressure error signal (3+-), and a function to monitor the pressure error signal (3+-).
'It has a function of issuing a valve control signal Sc that controls the RkM valve 1403. 1402 is an amplifier that amplifies the IP control signal Sc to the valve drive signal Vc.

Reference numeral 1403 denotes a solenoid valve, for example a normally open type on-off valve, which allows fluid to flow to either side when opened.

Figure 19 shows the Offsera I-M sweat generator + shown in Figure 18.
4411 details. In this diagram,
1501 is a D/A converter and an address bus.

According to the data bus information, supply side + lμ output side offset signal Ofυ, Of,, solenoid valve trial signal r'tlst
It outputs a control signal SC. 1502 is an A/D converter which converts the pressure feedback signal and the pressure error signal ep into digital signals and outputs them onto the data bus.

Next, regarding the operation of the third embodiment of the present invention described above,
explain.

The normal position control operation is completely the same as that in the first embodiment, so the explanation here will be omitted. The Offcella 1-signal generator 14 old in this embodiment starts its operation when the power is turned on, and proceeds with the processing according to the procedure shown in FIG. That is, in step 1600, the temporal rate of change 1Δspl of the pressure error signal e2 is calculated and the value of ΔQP is determined. That is, a comparison is made between the threshold value ε40 and the rate of change 1Δθp1, and if the rate of change 1Δa,l is the threshold value V. If larger, the process repeats steps + [ioo, 1
If Δepl is smaller than the threshold εde, the process proceeds to step ]6o1. That is, when it is determined that cp has reached a steady deviation, the process proceeds to step 1601. Next, in step 1601, the pressure error jn') e p is compared with the threshold value E6. Note that this re is a value appropriately determined, for example, by actual measurement. If the pressure error signal is less than Ee, the process is performed again using the JIJ1160
Proceed to 0. For example, if the pressure error signal OP becomes ε0 or more due to an increase in the dead zone due to the magnetic field of the ttt magnetic valve, the procedure proceeds to 1602. Here, a stop signal Pause is output to the position target value signal generator 101. .

By receiving this signal, the position target value signal generator 101, which is a microcomputer, for example, performs abnormality processing. The procedure further advances to 1603 and sets Sc to HI.

Normally, Sc is LO, solenoid valve 1403 is open, and actuator 110 is driven.
When the state becomes HI, the solenoid valve 1403 closes, and air is no longer allowed to flow into or out of the actuator 110. As a result, the supply side and discharge side solenoid valves 107u, 1
Due to the pressure change between 07Q, the actuator 110 no longer moves. In this state, the procedure advances to 1604, and the values of the supply side and discharge side offset signals Ofu and Of are set according to the procedure shown in FIG. A detailed explanation of the flowchart shown in FIG. 7 has already been described, so it will not be repeated here. The procedure then proceeds to 1605 and sets Sc to LO. As a result, the solenoid valve 1403 opens, and the actuator 110 is driven again by a change in the control pressure P. Further, in step 1606, the output of the stop signal Pause is stopped, and the position target value signal generator 101 knows that the offset signal setting has been completed. With this series of actions,
The amount of laps can be set to 0 laps.

As described above, by providing the pressure control device with a function that automatically corrects the zero-lap characteristic of the valve, it is possible to
Compared to measuring the characteristics of individual valves and making corrections, it is possible to optimally set the amount of wrap of the valve in a short time while the valve is still mounted.

1. In this embodiment, a normally open type solenoid valve is used, in which the current of the fluid is maximum when there is no signal input, the fluid used is air, and the valve drive signal is limited to a PWM signal. However, even when using normally closed type solenoid valves, even when controlling fluids other than air,
Furthermore, even when the solenoid valve is driven by a signal other than the PWM signal, the insensible JfF can be corrected due to the concept of this embodiment. 1. For example, it is also possible to implement a processing device such as an adder and a series of control calculations using computer software. Further, as the actuator, for example, an actuator in the form of a rubber artificial muscle can also be used.

〔Effect of the invention〕

According to the present invention, compared to the conventional method of measuring the characteristics of each valve and correcting the characteristics, it is possible to automatically measure the dead zone and correct the drive signal in the installed state. Solenoid valves can be used without considering detailed characteristics, deterioration, etc. of each individual valve.

As a result, the operating characteristics of the actuator can be improved.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the configuration of a cylinder device equipped with a first embodiment of the device of the present invention, FIG. 2 is a diagram showing the configuration of an offset signal setting device used in the embodiment shown in FIG. 1, and FIG. figure~
Fig. 5 is a characteristic diagram of the valve opening degree with respect to the input signal of the solenoid valve, Fig. 6 is a characteristic diagram showing the behavior of pressure in response to the pressure error signal, and Fig. 7 is an operation flowchart of the device of the present invention shown in Fig. 1. figure. 8 and 9 are characteristic diagrams of the valve opening degree with respect to the input signal of the solenoid valve; FIG. 10 is a diagram showing the configuration of a cylinder device equipped with a second embodiment of the device of the present invention; FIG. 11; Fig. 12 is a characteristic diagram showing the behavior of pressure with respect to the pressure error signal;
14 is an operation flowchart of the device of the present invention shown in FIG. 10, and FIG. 15 is an offset signal setting device used in the embodiment shown in FIG. 10. 16 and 17 are valve opening characteristic diagrams for input signals of the solenoid valve, and FIG. 18 is a diagram showing the configuration of a cylinder device equipped with the third embodiment of the device of the present invention. FIG. 19 is a block diagram of the offset setting device used in FIG. 18, and FIG. 20 is an operation flowchart thereof. 101... Position target value signal generator, 102... Amplifier, 103... Subtractor, 104...Offset signal setting device, 105u...Adder, 105Q...Subtractor, 106u, 106Q-amplifier, 107u,
107M... Solenoid valve, 108... Pressure fluid supply source,
109...Pressure detection means, 110...Actuator, 111゜3rd mouth 4th mouth 5 Fig. ef 11 Figure\I +2 (2) 13th Figure 01': FIt1 degree Ikozat (2Sa+, St
La'et\I+4 no 76 Figure\I ll Figure 2θ Figure

Claims (1)

[Claims] 1. One or more fluid control solenoid valves are arranged on the fluid supply side and fluid discharge side of an actuator such as a single-acting cylinder, and the valve opening degree of these fluid control solenoid valves is individually controlled. In a pressure control device that controls fluid pressure to an actuator, there is provided a measuring means for measuring the characteristics of a solenoid valve based on the fluid pressure supplied to the actuator, and a measuring means for measuring the characteristics of the solenoid valve based on the characteristics of the solenoid valve obtained by the measuring means. A pressure control device comprising: means for correcting a signal for driving a solenoid valve.