| 摘要 |
The invention relates to a hydraulic actuator (1) that can be controlled by means of a main valve device (2) and an auxiliary valve device (3). Arranged upstream of the main valve device (2) is a main regulator (7), comprising a P block (9) and an I block (10). Arranged upstream of the auxiliary valve device (3) is an auxiliary regulator (8), comprising a base block (11) and an I block (12). The hydraulic arrangement is operated in a normal mode and in a special mode of operation. In the normal mode of operation, the auxiliary valve device (3) is deactivated. The main regulator is provided with a main setpoint variable (p*) and a corresponding main actual quantity (p) of the hydraulic actuator (1). The main regulator (7) determines a main actuating variable (s) and predefines the main actuating variable (s) in the main valve device (2). In the special mode of operation, the base block (11) of the auxiliary regulator (8) is provided with an auxiliary setpoint variable (a*) and a corresponding auxiliary actual quantity (a) of the hydraulic actuator (1). The base block (11) of the auxiliary regulator (8) determines an auxiliary actuating variable (s') and predefines the auxiliary actuating variable (s') in the auxiliary valve device (3). The I block (12) of the auxiliary regulator (8) is provided with the main setpoint variable (p*) and the main actual quantity (p). The I block (12) of the auxiliary regulator (8) determines an integral component (si') therefrom. The integral component (si') is applied to the auxiliary actuating variable (s'). In the special mode of operation, the P block (9) is provided with the main setpoint variable (p*) and the main actual quantity (p). In the special mode of operation, the P-block (9) determines the main actuating variable (s) and predefines the main actuating variable (s) in the main valve device (2). |
