KR100622939B1 - 에어 실린더의 제어방법 및 장치 - Google Patents
에어 실린더의 제어방법 및 장치 Download PDFInfo
- Publication number
- KR100622939B1 KR100622939B1 KR1020050062107A KR20050062107A KR100622939B1 KR 100622939 B1 KR100622939 B1 KR 100622939B1 KR 1020050062107 A KR1020050062107 A KR 1020050062107A KR 20050062107 A KR20050062107 A KR 20050062107A KR 100622939 B1 KR100622939 B1 KR 100622939B1
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- Prior art keywords
- air
- pressure
- air cylinder
- displacement
- controller
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
- F15B2211/351—Flow control by regulating means in feed line, i.e. meter-in control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
- F15B2211/353—Flow control by regulating means in return line, i.e. meter-out control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6656—Closed loop control, i.e. control using feedback
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/765—Control of position or angle of the output member
- F15B2211/7656—Control of position or angle of the output member with continuous position control
Abstract
Description
Claims (6)
- 에어 실린더의 압력실에의 급배기를 에어 서보 밸브로 행하고, 이 압력실내의 압력을 압력센서로 검출해서 그 압력검출신호를 컨트롤러에 피드백하고, 지령값과 검출값의 편차에 기초하여 상기 컨트롤러의 PID조절기에 의해 상기 에어 서보 밸브의 개도를 조절해서 상기 에어 실린더를 제어하는 방법에 있어서,상기 에어 실린더에 있어서의 로드의 변위를 변위센서로 검출하고, 이 변위검출신호에 기초하여 상기 PID조절기의 게인만을 상시 변경하는 것을 특징으로 하는 에어 실린더의 제어방법.
- 제1항에 있어서, 상기 로드의 변위에 비례해서 비례 게인을 변경하는 것을 특징으로 하는 제어방법.
- 제1항 또는 제2항에 있어서, 에어 실린더의 헤드측 및 로드측의 2개의 압력실에의 급배기를 2개의 에어 서보 밸브에 의해 개별적으로 행하고, 각각의 에어 서보 밸브에 대응하는 PID조절기의 게인을 상기 변위센서로부터의 변위검출신호에 의해 변경하는 것을 특징으로 하는 제어방법.
- 에어 실린더와, 이 에어 실린더의 압력실에의 급배기를 행하는 에어 서보 밸브와, 상기 압력실의 압력을 검출하는 압력센서와, 상기 에어 실린더에 있어서의 로드의 변위를 검출하는 변위센서와, 상기 압력센서로부터 피드백되는 압력 검출값과 지령치값의 편차에 기초해서 PID조절기에 의해 상기 에어 서보 밸브를 제어하는 컨트롤러를 구비한 제어장치에 있어서,이 제어장치가 또한 상기 에어 실린더의 로드의 변위를 검출해서 컨트롤러에 피드백하는 변위센서를 갖고, 이 변위센서로부터의 변위검출신호에 따라 상기 PID조절기의 게인을 상시 변경하도록 구성되어 있는 것을 특징으로 하는 에어 실린더의 제어장치.
- 제4항에 있어서, 상기 로드의 변위에 비례해서 비례 게인을 변경하는 것을 특징으로 하는 제어장치.
- 제4항 또는 제5항에 있어서, 에어 실린더의 헤드측 압력실 및 로드측 압력실에 개별적으로 접속된 2개의 에어 서보 밸브 및 2개의 압력센서와, 각각의 에어 서보 밸브에 대응하는 2개의 PID조절기와, 1개의 변위센서를 갖는 것을 특징으로 하는 제어장치.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2004-00239968 | 2004-08-19 | ||
JP2004239968A JP4457299B2 (ja) | 2004-08-19 | 2004-08-19 | エアシリンダの圧力制御方法及び装置 |
Publications (2)
Publication Number | Publication Date |
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KR20060050035A KR20060050035A (ko) | 2006-05-19 |
KR100622939B1 true KR100622939B1 (ko) | 2006-09-13 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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KR1020050062107A KR100622939B1 (ko) | 2004-08-19 | 2005-07-11 | 에어 실린더의 제어방법 및 장치 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7210394B2 (ko) |
JP (1) | JP4457299B2 (ko) |
KR (1) | KR100622939B1 (ko) |
CN (1) | CN100545464C (ko) |
DE (1) | DE102005031732B4 (ko) |
FR (1) | FR2874410B1 (ko) |
Cited By (1)
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KR102171347B1 (ko) | 2020-06-05 | 2020-10-28 | 주식회사 청공 | 정밀 압력조절이 용이한 에어 실린더용 공기 조절 장치 |
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2004
- 2004-08-19 JP JP2004239968A patent/JP4457299B2/ja active Active
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2005
- 2005-06-02 US US11/142,094 patent/US7210394B2/en active Active
- 2005-07-06 CN CNB2005100826385A patent/CN100545464C/zh active Active
- 2005-07-07 DE DE102005031732A patent/DE102005031732B4/de active Active
- 2005-07-11 KR KR1020050062107A patent/KR100622939B1/ko active IP Right Grant
- 2005-08-05 FR FR0508391A patent/FR2874410B1/fr active Active
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JPS61289410A (ja) | 1985-06-18 | 1986-12-19 | Ishikawajima Harima Heavy Ind Co Ltd | 油圧制御装置 |
KR910700411A (ko) * | 1988-12-12 | 1991-03-15 | 올센 제니 | 디지탈 서보 밸브 시스템 |
KR960706654A (ko) * | 1993-12-13 | 1996-12-09 | 마리아 피.데 푸스코 | 가압된 유체를 제어하는 방법 및 시스템과 이 방법 및 이 시스템에 사용하기 위한 밸브 조립체(method and system for controlling a pressurized fluid and valve assembly for use therein) |
KR19990058553A (ko) * | 1997-12-30 | 1999-07-15 | 유철진 | 6자유도 모션 시뮬레이터 |
JP2001117627A (ja) | 1999-10-22 | 2001-04-27 | Japan Science & Technology Corp | 油圧システムパラメータ同定方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR102171347B1 (ko) | 2020-06-05 | 2020-10-28 | 주식회사 청공 | 정밀 압력조절이 용이한 에어 실린더용 공기 조절 장치 |
Also Published As
Publication number | Publication date |
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FR2874410A1 (fr) | 2006-02-24 |
JP4457299B2 (ja) | 2010-04-28 |
DE102005031732A1 (de) | 2006-03-02 |
FR2874410B1 (fr) | 2012-11-23 |
US7210394B2 (en) | 2007-05-01 |
CN100545464C (zh) | 2009-09-30 |
JP2006057724A (ja) | 2006-03-02 |
DE102005031732B4 (de) | 2012-01-19 |
CN1737381A (zh) | 2006-02-22 |
KR20060050035A (ko) | 2006-05-19 |
US20060037466A1 (en) | 2006-02-23 |
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