Actuator Limit Controller

摘要

In some applications, a piston of a hydraulic actuator may move at high speeds, and large undesired forces may be generated if the piston reaches an end-stop of the hydraulic actuator at a high speed. The undesired forces may, for example, cause mechanical damage in the hydraulic actuator. A controller may receive information indicative of the piston reaching a first position at a first threshold distance from the end-stop, and, in response, may modify a signal to a valve assembly controlling flow of hydraulic fluid to and from the hydraulic actuator. Further, the controller may receive information indicative of the piston reaching a second position at a second threshold distance closer to the end-stop of the hydraulic actuator, and, in response, the controller may further modify the signal to the valve assembly so as to apply a force on the piston in a away from the end-stop.

主权项

1. A method comprising:
receiving a command for moving a piston of a hydraulic actuator at a given speed in a given direction, wherein a valve is fluidly coupled to the hydraulic actuator; based on the command, sending a signal to operate the valve to provide hydraulic fluid to the hydraulic actuator to cause motion of the piston at the given speed in the given direction; receiving position information indicative of the piston reaching a first position relative to an end-stop of the hydraulic actuator; in response, modifying the signal to the valve to reduce a speed of the piston; receiving position information indicative of the piston reaching a second position closer to the end-stop of the hydraulic actuator; and in response, further modifying the signal to the valve to cause the hydraulic fluid to apply a force on the piston in a direction away from the end-stop.