KR100402930B1 - Hydraulic servo control system for constant angular velocity motion of tube bending arm and hydraulic servo control method for constant angular velocity motion of tube bending arm - Google Patents

Hydraulic servo control system for constant angular velocity motion of tube bending arm and hydraulic servo control method for constant angular velocity motion of tube bending arm Download PDF

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Publication number
KR100402930B1
KR100402930B1 KR1019960014002A KR19960014002A KR100402930B1 KR 100402930 B1 KR100402930 B1 KR 100402930B1 KR 1019960014002 A KR1019960014002 A KR 1019960014002A KR 19960014002 A KR19960014002 A KR 19960014002A KR 100402930 B1 KR100402930 B1 KR 100402930B1
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South Korea
Prior art keywords
bending arm
cylinder
tube
bending
servo
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KR1019960014002A
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Korean (ko)
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KR970069174A (en
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이현수
허관
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두산중공업 주식회사
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Priority to KR1019960014002A priority Critical patent/KR100402930B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/12—Bending rods, profiles, or tubes with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/02—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment
    • B21D7/024—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member

Abstract

PURPOSE: A hydraulic servo control system for constant angular velocity motion of tube bending arm and a hydraulic servo control method for constant angular velocity motion of tube bending arm are provided to drive the bending arm to a constant angular velocity. CONSTITUTION: The hydraulic servo control system for constant angular velocity motion of tube bending arm comprises a bending arm(20) for holding and rotating a tube(10); a cylinder(40) contracted and expanded to rotate the bending arm to a certain angle; a servo valve(50) for supplying hydraulic pressure to the cylinder and controlling driving of the cylinder by regulating the hydraulic pressure; a controller for rotating the bending arm to a constant angular velocity by calculating speed curve of the cylinder according to rotation angle of the bending arm, thereby controlling the servo valve; and a hydraulic pump(61) for supplying hydraulic pressure to the servo valve, wherein the hydraulic servo control system further comprises link bodies(30) interposed between the bending arm and the cylinder to rotate the bending arm, wherein the servo valve is a 4 port 3 position valve, wherein the servo valve has first position (P1), second position (P2) and third position (P3), wherein the servo valve is equipped with a servo drive for controlling the servo valve by the speed curve of the cylinder calculated in the controller.

Description

튜브벤딩아암의 등각속도운동을 위한 하이드로닉서보제어장치 및 그 방법Hydronic Servo Control Device and Method for Isokinetic Motion of Tube Bending Arm

본 발명은 보일러튜브를 링크구조를 갖는 벤딩아암을 이용하여 벤딩하는 시스템에 관한 것으로, 특히 벤딩아암을 등각속도로 구동하기 위한 튜브벤딩아암의 등각속도운동을 위한 하이드로닉서보제어장치 및 그 방법에 관한 것이다.The present invention relates to a system for bending a boiler tube using a bending arm having a link structure, and more particularly, to a hydronic servo control device for isokinetic motion of a tube bending arm for driving a bending arm at an equal speed. It is about.

통상적으로, 보일러의 튜브는 그 설치상태에 적합하게 소정부분을 절곡하게 된다. 튜브의 절곡은 튜브가 벤딩위치에 도달하면 클램프가 튜브를 벤딩롤에 밀착시키는 한편, 실린더가 구동되어 벤딩롤과 클램프를 잡고 있는 벤딩아암을 밀어주게 된다. 따라서, 벤딩롤이 글램프와 회전하여 튜브를 소정각도로 절곡시키게 된다. 이때, 실린더와 벤딩아암은 링크구속조건을 취하기 때문에 일정한 속도로 구동시키는 일반적인 제어방법으로는 벤딩아암을 등각속도로 유지시켜 주지 못한다. 즉, 벤딩아암의 각속도는 튜브의 벤딩부위의 품질에 중대한 영향을 미치게 된다. 따라서, 벤딩아암의 각속도가 등속으로 유지되지 못하면 벤딩시 튜브의 벤딩부위에는 파단 및 주름등의 불량요인이 발생한다. 이러한 불량요소를 가진 튜브를 보일러에 사용하며, 튜브내는 고온, 고압의 스팀이 연속적으로 유동하므로 불량부위에서 파열이 발생하게 된다.Typically, the tube of the boiler bends a predetermined portion to suit its installation. The bending of the tube causes the clamp to close the tube to the bending roll when the tube reaches the bending position, while the cylinder is driven to push the bending arm holding the bending roll and the clamp. Thus, the bending roll rotates with the clamp to bend the tube at a predetermined angle. At this time, since the cylinder and the bending arm take the link restraint condition, the general control method for driving at a constant speed does not maintain the bending arm at an isometric speed. That is, the angular velocity of the bending arm has a significant effect on the quality of the bending portion of the tube. Therefore, if the angular velocity of the bending arm is not maintained at constant velocity, defects such as fracture and wrinkles occur at the bending portion of the tube during bending. A tube having such a defective element is used in a boiler, and since the high temperature and high pressure steam flows continuously in the tube, a rupture occurs at the defective portion.

따라서, 본 발명의 목적은 상술한 제결점들을 극복하기 위해서 안출한 것으로서, 벤딩아암이 결정된 회전각에 따른 링크구조해석을 통해 산출된 데이터로 실린더의 속도곡선을 산출하여 서보메카니즘을 제어함으로써 벤딩롤을 등각속도로 제어구동하기 위한 튜브벤딩아암의 등각속도운동을 위한 하이드로닉서보제어장치를 제공함에 있다.Therefore, an object of the present invention is to overcome the above-mentioned drawbacks, the bending arm is calculated by calculating the speed curve of the cylinder with the data calculated through the link structure analysis according to the determined rotation angle by controlling the bending mechanism The present invention provides a hydronic servo control device for isometric velocity movement of a tube bending arm for controlling and driving at an isometric velocity.

본 발명의 다른 목적은 상기한 튜브벤딩아암의 등각속도운동을 위한 하이드로닉서보제어장치에 의해 구현되는 하이드로닉서보제어방법을 제공함에 있다.It is another object of the present invention to provide a hydronic servo control method implemented by a hydronic servo control apparatus for isometric velocity motion of the tube bending arm.

이와 같은 목적을 달성하기 위한 본 발명에 따른 튜브벤딩아암의 등각속도운동을 위한 하이드로닉서보제어장치는 상기 튜브를 파지하고 선회하는 벤딩아암을 구비하고 있다. 상기 벤딩아암을 소정각도로 선회시키는 수축팽창하는 실린더를 구비하고 있다. 상기 실린더에 유압을 제공하며, 상기 유압을 통제하여 상기 실린더의 구동을 제어하는 서보밸브를 구비하고 있다. 상기 벤딩아암의 회전각에 따라 상기 실린더의 속도곡선을 산출하여 상기 서보밸브를 제어해 상기 벤딩아암을 등각속도 회전시키는 콘트롤러를 구비하고 있다. 상기 서보밸브에 유압을 제공하는 유압펌프를 구비하고 있다.Hydronic servo control device for the isometric velocity movement of the tube bending arm according to the present invention for achieving the above object is provided with a bending arm for gripping and turning the tube. A contracting and expanding cylinder for pivoting the bending arm at a predetermined angle is provided. A servo valve is provided to provide hydraulic pressure to the cylinder and to control the driving of the cylinder by controlling the hydraulic pressure. And a controller for calculating the speed curve of the cylinder in accordance with the rotation angle of the bending arm to control the servovalve to rotate the bending arm at an equal speed. A hydraulic pump is provided for providing hydraulic pressure to the servovalve.

본 발명의 다른 목적을 달성하기 위한 튜브벤딩아암의 등각속도운동을 위한 하이드로닉서보제어방법은 벤딩아암의 기준회전각이 결정되면, 링크구조해석을 통하여 실린더의 속도곡선을 산출하는 단계를 구비하고 있다. 상기 산출된 속도곡선에 따라 서보밸브를 제어하여 실린더에 유압을 공급하여 구동하는 단계를 구비하고 있다. 상기 유압에 따른 실린더의 수축팽창으로 구동된 벤딩아암의 실회전각을 검출하여 기준회전각과 비교하여 오차를 보상제어하는 단계를 구비하고 있다.According to another aspect of the present invention, there is provided a hydronic servo control method for an isometric velocity motion of a tube bending arm, when the reference rotation angle of the bending arm is determined, calculating a velocity curve of a cylinder through a link structure analysis. have. And controlling the servovalve according to the calculated speed curve to supply and drive hydraulic pressure to the cylinder. And detecting the actual rotation angle of the bending arm driven by the contraction expansion of the cylinder according to the hydraulic pressure, and compensating for the error compensation by comparing with the reference rotation angle.

이하, 본 발명의 바람직한 실시예를 첨부된 도면들에 의거하여 상세히 설명한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

제 1도는 본 발명에 따른 하이드로닉서보제어방법을 구현하기 위한 시스템도이다.1 is a system diagram for implementing a hydronic servo control method according to the present invention.

벤딩시스템은 튜브(10)를 잡고 회전하는 벤딩아암(20)을 구비하고 있다. 이벤딩아암(20)은 벤딩롤(21)과 벤딩롤(21)과 일정간격 이격하여 튜브(10)를 벤딩롤(21)에 밀착시켜 벤딩롤(21)과 일체로 회전하는 클램프(22)로 구성되어 있다. 벤딩아암(10)에는 또한 벤딩롤(21)의 회전각을 검출하기 위한 엔코더(23)가 부착되어 있다. 클램프(22)와 벤딩롤(21)로 구성된 벤딩아암(20)은 다수의 링크체(30)에 의해 실린더(40)의 로드(41)와 연결되어 있다. 따라서, 실린더(40)가 수축팽창하면 그 로드(41)의 직진력은 링크체(30)를 거쳐 벤딩롤(21)과 클램프(22)를 선회시키게 된다. 구조적으로 상세히 부연설명하면, 링크체(30)는 대략 중심부위에 실린더(40)의 로드(41)단부가 고정되어 있는 제 1링크(31)와, 제 1링크(31)의 개방단부에 고정된 제 2링크(32)로 구성되어 있다. 특히, 제 1링크(31)의 일측단은 구조물에 고정되어 있으며, 그 타단에는 제 2링크(32)가 연결되어 벤딩아암(20)에 고정되어 있다. 따라서, 실린더(40)의 로드(41)가 직진운동하면 제 1링크(31)가 고정단을 정점으로 선회하여 제 2링크(32)를 밀어절접시키며 벤딩아암(20)을 선회시키게 된다. 이때 벤딩아암(20)은 벤딩롤(21)의 중심을 정점으로 회전하게 된다.The bending system has a bending arm 20 which rotates while holding the tube 10. The bending arm 20 is a clamp 22 which is integrally rotated with the bending roll 21 by bringing the tube 10 into close contact with the bending roll 21 at a predetermined interval from the bending roll 21 and the bending roll 21. Consists of The bending arm 10 is also equipped with an encoder 23 for detecting the rotation angle of the bending roll 21. The bending arm 20 composed of the clamp 22 and the bending roll 21 is connected to the rod 41 of the cylinder 40 by a plurality of link bodies 30. Therefore, when the cylinder 40 shrinks and expands, the straight force of the rod 41 rotates the bending roll 21 and the clamp 22 via the link body 30. Detailed description of the structure, the link body 30 is fixed to the first link 31 and the open end of the first link 31 is fixed to the end of the rod 41 of the cylinder 40 approximately above the center. The second link 32 is formed. In particular, one end of the first link 31 is fixed to the structure, the other end of the second link 32 is connected to the bending arm 20 is fixed. Therefore, when the rod 41 of the cylinder 40 moves straight, the first link 31 pivots the fixed end to the peak and pushes the second link 32 to pivot the bending arm 20. At this time, the bending arm 20 rotates the center of the bending roll 21 to a vertex.

실린더(40)는 구조물(기계에 몸체나 시설의 고정물)에 고정되어 있으며, 그 피스톤(42)의 양쪽으로 유압(流壓)라인(S,T)이 연결되어 하이드로닉서보밸브(50)(이하, 서보밸브라 함)에 의해 그 유압을 공급받는다. 서보밸브(50)는 4포트 3위치밸브로 구성되어 있다. 이 서보밸브(50)는 제 1위치(P1)에서는 유압이 도시한 바와 같이 공급되어 로드(41)가 팽창하며, 제 2위치(P2)에서는 현상태를 유지하고, 제 3위치(P3)에서는 로드(41)가 수축하게 된다. 이에 대한 상세한 설명은 제 2도에서 후술하기로 한다. 전술한 서보밸브(50)는 유체탱크(60)를 구비한 유압펌프(61)에 의해 그 작동유압을 공급받는다.The cylinder 40 is fixed to the structure (fixture of the body or facility to the machine), the hydraulic lines (S, T) are connected to both sides of the piston 42, the hydronic servo valve 50 ( The hydraulic pressure is supplied by the following). The servovalve 50 is comprised with a 4-port 3-position valve. The servo valve 50 is supplied as shown in the hydraulic pressure in the first position P 1 to expand the rod 41, maintains the current state in the second position P 2 , and maintains the current state in the third position P 3. ), The rod 41 is contracted. Detailed description thereof will be described later with reference to FIG. 2. The servo valve 50 described above is supplied with its hydraulic pressure by the hydraulic pump 61 having the fluid tank 60.

제 2도는 본 제어방법에 의해서 제어되는 시스템의 작동상태도로서, 제 2(가)도는 튜브를 벤딩하기 전의 상태를 나타낸 것이고, 제 2(나)도는 벤딩후의 상태를 나타낸 것이다.FIG. 2 is an operating state diagram of the system controlled by the present control method. FIG. 2 (a) shows a state before bending a tube, and FIG. 2 (b) shows a state after bending.

도시한 바와 같이, 유체가 피스톤(42)으로 구획된 실린더(40)의 좌측으로 유입되면 피스톤(42)은 우측으로 직진이동하여 그 로드(41)가 팽창하게 된다. 따라서, 제 2(나)도와 같이 로드(41)가 실린더(40)의 외부로 팽창하며 링크체(30)를 고정점으로 하여 선회시켜 그 선단부에 고정된 벤딩아암(20)을 회전시키게 된다. 따라서, 벤딩아암(20)의 벤딩롤(21)과 클램프(22)에 의해 파지된 튜브(10)는 벤딩롤(21)의 곡면에 의해 유연하게 절곡되며 원하는 형상을 형성하게 된다.As shown, when the fluid flows to the left side of the cylinder 40 partitioned by the piston 42, the piston 42 moves straight to the right to expand the rod 41. Therefore, as shown in FIG. 2 (b), the rod 41 expands to the outside of the cylinder 40 and pivots with the link body 30 as a fixed point to rotate the bending arm 20 fixed to the tip end thereof. Therefore, the tube 10 gripped by the bending roll 21 and the clamp 22 of the bending arm 20 is flexibly bent by the curved surface of the bending roll 21 and forms a desired shape.

제 3도는 본 발명의 하이드로닉실린더를 제어구동하기 위한 제어블록도이다.3 is a control block diagram for controlling and driving the hydronic cylinder of the present invention.

벤딩아암(미도시)의 회전각(기준신호(ⓐ))이 결정되면, 링크구조해석을 통하여 산출된 식을 이용하여 콘트롤러(70)는 실린더(40)의 속도곡선을 산출한다. 이 속도 곡선에 의하여 서보드라이브(51)를 제어하여 서보밸브(50)를 구동제어하게 된다. 따라서, 서보밸브(50)의 작동에 따른 유압공급에 의해 실린더(40)가 구동하여 벤딩할 튜브를 파지한 벤딩롤(21)을 선회시켜 튜브를 절곡시키게 된다. 이때, 벤딩롤(21)에 부착된 엔코더(23)를 통하여 벤딩롤(21)의 실회전각신호(ⓓ)는 피드백되어 기준신호(ⓐ)와 비교되어 오차제어신호(ⓑ)가 되어 콘트롤러(70)로 입력된다. 따라서, 콘트롤러(70)는 이 오차신호를 갖고 다시 전단계를 피드백하여 벤딩롤(21)를 등각속도로 제어하게 된다.When the rotation angle (reference signal ⓐ) of the bending arm (not shown) is determined, the controller 70 calculates the speed curve of the cylinder 40 by using the equation calculated through the link structure analysis. The servo drive 51 is controlled by this speed curve to drive control the servovalve 50. Accordingly, the cylinder 40 is driven by the hydraulic pressure supply according to the operation of the servovalve 50 to pivot the bending roll 21 holding the tube to be bent to bend the tube. At this time, the actual rotation angle signal ⓓ of the bending roll 21 is fed back through the encoder 23 attached to the bending roll 21 to be compared with the reference signal ⓐ to become an error control signal ⓑ. 70). Therefore, the controller 70 feeds back the previous step with this error signal to control the bending roll 21 at an isometric speed.

이상 서술한 바와 같이, 본 발명은 벤딩아암의 속도패턴을 산출하여 벤딩롤을 등각속도로 회전시키므로 튜브의 벤딩부위의 품질을 향상할 수 있는 잇점을 갖는다. 따라서, 그 적용시 벤딩부위에서 파손이나 균열등의 제결점들을 해소할 수 있어 적용기기나 적용시설의 내구성을 증진시키는 효과를 갖는다.As described above, the present invention has the advantage that the quality of the bending portion of the tube can be improved by calculating the speed pattern of the bending arm to rotate the bending roll at an isotropic speed. Therefore, it is possible to solve the defects such as breakage or cracking at the bending part during the application has the effect of improving the durability of the application equipment or application facilities.

제 1도는 본 발명에 따른 하이드로닉서보제어방법을 구현하기 위한 시스템도,1 is a system diagram for implementing a hydronic servo control method according to the present invention,

제 2도는 본 제어방법에 의해서 제어되는 시스템의 작동상태도,2 is an operating state diagram of a system controlled by the present control method,

제 3도는 본 하이드로닉실린더를 유압제어구동하기 위한 블록도.3 is a block diagram for hydraulically controlling the present hydraulic cylinder.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

10 : 튜브 20 : 벤딩아암10 tube 20 bending arm

21 : 벤딩롤 22 : 클램프21: bending roll 22: clamp

23 : 엔코더 30 : 링크체23: encoder 30: link body

31,32 : 제 1, 제 2링크 40 : 실린더31,32: 1st, 2nd link 40: cylinder

41 : 로드 42 : 피스톤41: rod 42: piston

50 : 서보밸브 51 : 서보드라이브50: servo valve 51: servo drive

60 : 유체탱크 61 : 유압펌프60: fluid tank 61: hydraulic pump

Claims (6)

튜브를 벤딩하는 시스템에 있어서,In a system for bending a tube, 상기 튜브를 파지하고 선회하는 벤딩아암;A bending arm for gripping and pivoting the tube; 수축 팽창하여 상기 벤딩아암을 소정각도로 선회시키는 실린더;A cylinder that contracts and expands to pivot the bending arm at a predetermined angle; 상기 실린더에 유압을 제공하며, 상기 유압을 통제하여 상기 실린더의 구동을 제어하는 서보밸브;A servo valve providing hydraulic pressure to the cylinder and controlling the driving of the cylinder by controlling the hydraulic pressure; 상기 벤딩아암의 회전각에 따라 상기 실린더의 속도곡선을 산출하여 상기 서보밸브를 제어해 상기 벤딩아암을 등각속도 회전시키는 콘트롤러; 및A controller for calculating the speed curve of the cylinder according to the rotation angle of the bending arm to control the servovalve to rotate the bending arm at an equal speed; And 상기 서보밸브에 유압을 제공하는 유압펌프를 포함하는 튜브벤딩아암의 등각속도운도응ㄹ 위한 하이드로닉서보제어장치.Hydronic servo control device for conformal speed operation of the tube bending arm including a hydraulic pump for providing hydraulic pressure to the servo valve. 제 1항에 있어서, 상기 벤딩아암과 상기 실린더에 개재되어 상기 실린더의 수축팽창력에 의해 고정점을 정점으로 소정각도로 선회하여 상기 벤딩아암을 회전시키는 링크체를 더 포함하는 튜브벤딩아암의 등각속도운동을 위한 하이드로닉서보제어장치.The isometric velocity of a tube bending arm according to claim 1, further comprising a link body interposed between the bending arm and the cylinder to rotate the bending arm by pivoting the fixed point at a predetermined angle by the contracted expansion force of the cylinder. Hydronic servo control device for exercise. 제 1항에 있어서, 상기 서보밸브는 4포트 3위치밸브인 것을 특징으로 하는 튜브벤딩아암의 등각속도운동을 위한 하이드로닉서보제어장치.2. The hydronic servo control device according to claim 1, wherein the servovalve is a four-port three-position valve. 제 1항 또는 제 3항에 있어서, 상기 서보밸브는 상기 실린더의 로드를 팽창시키는 쪽으로 유압을 공급하는 제 1위치와, 정지상태를 유지하는 제 2위치 및, 상기 로드를 수축시키는 쪽으로 유압을 공급하는 제 3위치를 갖는 것을 특징으로 하는 튜브벤딩아암의 등각속도운동을 위한 하이드로닉서보제어장치.4. The servo valve according to claim 1 or 3, wherein the servovalve supplies hydraulic pressure at a first position for supplying hydraulic pressure toward the inflating rod of the cylinder, at a second position for maintaining a stop state, and for contracting the rod. Hydronic servo control device for the isometric velocity movement of the tube bending arm, characterized in that it has a third position. 제 4항에 있어서, 상기 서보밸브는 상기 콘트롤러에서 산출된 상기 실린더의 속도곡선에 의해서 상기 서보밸브를 제어하는 서보드라이브를 구비하고 있는 것을 특징으로 하는 튜브벤딩아암의 등각속도운동을 위한 하이드로닉서보제어장치.5. The hydronic servo for isometric velocity movement of a tube bending arm according to claim 4, wherein the servovalve includes a servo drive for controlling the servovalve by a speed curve of the cylinder calculated by the controller. Control unit. 튜브를 벤딩하는 시스템에 있어서,In a system for bending a tube, 벤딩아암의 기준회전각이 결정되면, 링크구조해석을 통하여 실린더의 속도곡선을 산출하는 단계;Calculating a speed curve of the cylinder through the link structure analysis when the reference rotation angle of the bending arm is determined; 상기 산출된 속도곡선에 따라 서보밸브를 제어하여 실린더에 유압을 공급하여 구동하는 단계; 및Controlling and controlling the servovalve according to the calculated speed curve to supply hydraulic pressure to the cylinder; And 상기 유압에 따른 실린더의 수축팽창으로 구동된 벤딩아암의 실회전각을 검출하여 상기 기준회전각과 비교하여 오차를 보상제어하는 단계를 포함하는 튜브벤딩아암의 등각속도운동을 위한 하이드로닉서보제어방법.And detecting the actual rotation angle of the bending arm driven by the contraction and expansion of the cylinder according to the hydraulic pressure, and compensating for the error compared to the reference rotation angle.
KR1019960014002A 1996-04-30 1996-04-30 Hydraulic servo control system for constant angular velocity motion of tube bending arm and hydraulic servo control method for constant angular velocity motion of tube bending arm KR100402930B1 (en)

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CN105137972A (en) * 2015-08-14 2015-12-09 浙江大学 Adaptive robustness cascading force controlling method for single-joint powered exoskeleton

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KR100779264B1 (en) * 2006-10-17 2007-11-27 세종공업 주식회사 Pipe bending machine which is provided with a cutting tool
CN114562111B (en) * 2022-02-14 2023-09-08 三一汽车制造有限公司 Arm support position determining method, device, equipment and working machine

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JPS5992120A (en) * 1982-11-15 1984-05-28 Hitachi Ltd Bending device
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