| 摘要 |
The device (11) has controllers (15,15') that determine preliminary manipulated variables (u,u') for valve control unit of hydraulic cylinder unit based on difference (delta s,delta F) between setpoint variables (s',F') and actual variables (s,F). A linearization unit (17) determines definitive manipulated variables (ua-ud) outputted to valve control unit, and determines linearization factors (fa'-fd') such that ratio of adjustment speed to difference between setpoint and actual variables is independent of position of piston and working pressures prevailing on sides of piston. An independent claim is included for a machine-readable media that contains software module storing machine code for controlling hydraulic cylinder unit. |
