Electro-hydraulic interactive double feedback loop

摘要

An electro-hydraulic circuit enabling two mechanical devices to shadow each other's movements without any direct mechanically-operative linkage between the devices. The two devices incorporate matching sets of hydraulic actuators for inducing movements of movable components of the devices. For each actuator in a given one of the devices, a system of electronic sensors and hydraulic valves, in conjunction with a central processing and control system, keeps track of the physical positions and configurations of the actuator and the corresponding actuator in the other device, and what the status of the actuators should be in relation to each other. If an actuator associated with one device is moved by an external force, a corresponding actuator in the other device moves in response to that external force, with proportionate direction, speed, and force.

主权项

1. An electro-hydraulic circuit comprising:
(a) a first actuator and a second actuator; (b) a first sensor system and a second sensor system, said first and second sensor systems being associated, respectively, with the first and second actuators; (c) a first hydraulic valve system and a second hydraulic valve system, said first and second hydraulic valve systems being associated, respectively, with the first and second actuators; and (d) a central control unit in two-way electronic communication with the first actuator and with the second actuator;wherein:
(e) each sensor system is adapted to gather data relating to movements of its associated actuator, and to transmit corresponding electronic data to the central control unit; (f) each valve system is adapted to initiate movements of its associated actuator, in accordance with control signals received from the central control unit; and (g) the central control unit is adapted to generate and send control signals to the first valve system in response to which the first actuator will mimic, in close to real time, movements of the second actuator; and to generate and send control signals to the second valve system in response to which the second actuator will mimic, in close to real time, movements of the first actuator;such that the movements of each actuator will be in proportionate correspondence to the movements of the other actuator.