| 摘要 |
The invention relates to a control device (12) for controlling an actual load force (FL) exerted by a hydraulic cylinder unit (1) on a load (2) by means of a mechanical system (6), said control device comprising a load force regulator (13), a force regulator (14), a load monitor (15), and a delay element (16). A target load force (FL*) to be exerted by the hydraulic cylinder unit (1) on the load (2) and an expected actual load force (FL') determined by the load monitor (15) are fed into the load force regulator (13). The target load force (FL*), a piston force (FK) exerted by the hydraulic cylinder unit (1) on the mechanical system (6), and an internal force (FE) brought about by the mechanical system (6) are fed into the force regulator (14). The output signals of the load force regulator (13) and the force regulator (14) are summed to an undelayed sum signal (vFM). The undelayed sum signal (vFM) acts on a valve control unit (9) by means of which the hydraulic cylinder unit (1) is adjusted. The piston force (FK), internal force (FE), and a delayed sum signal (vU) are fed into the load monitor (15). The delayed sum signal (vU) is generated by means of the delay element (16) by delaying the undelayed sum signal (vFM). |
