| 摘要 |
FIELD: information technology. ^ SUBSTANCE: control device (11) for controlling the position of a hydraulic cylinder unit (1), has a controller (15) which receives, on the input side, a nominal position (s*) of a piston (3) of the hydraulic cylinder unit (1) and an actual position (s) of the piston (3) and determines a preliminary control action (u') for a valve control unit (7) of the hydraulic cylinder unit (1) based on the difference (s) between the nominal position (s*) and the actual position (s). A linearisation unit (17) is placed behind the controller (15) and multiplies the preliminary control action (u') by a linearisation factor (F) and outputs the preliminary control action (u') multiplied by the linearisation factor (F), as the final control action (u) on the valve control unit (7), so that the piston (3) moves at the speed () of the control action. The linearisation unit (17) determines the linearisation factor (F) dynamically as a function (s) of the actual position of the piston (3), and of working pressure values (pA, pB, pP, pT) which prevail on both sides of the piston (3) and on the inflow side and outflow side of the valve control unit (7). Determination is carried out in such a way that a ratio of the speed () of the control action to the difference (s) between the nominal position (s*) and the actual position (s) is independent of the actual position (s) of the piston (3) and the working pressure values (pA, pB, pP, pT). In a special case, when the controller is in form of a proportional (P) controller, the sequence of the controller (15) and the linearisation unit (17) can be replaced with the opposite sequence. ^ EFFECT: improved device. ^ 11 cl, 5 dwg |
