| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a hydraulic control system which can smoothly and timely carry out transition from speed control to position control. <P>SOLUTION: The hydraulic control system comprises an actuator 10, a pump 20, an electric motor 30, a servo controller 70, a position sensor 11, a pressure sensor 21, and an encoder 31 for detecting a flow rate. The servo controller 70 calculates a controlled variable of a position Ds by performing the calculation of feedback control so as to make a detected position Df follow a position command Dc, a controlled variable of pressure Ps by performing the calculation of the feedback control so as to make a detected pressure Pf follow a pressure command Pc, and a controlled variable of flow rate Qs by performing the calculation of the feedback control so as to make a detected flow rate Qf follow a flow rate command Qc; and carries out the rotation control of the electric motor 30 by selecting a controlled variable having the smallest absolute value among these controlled variables as the controlled variable S. By this method, the effect of the variation of a reaction force, etc. on transition timing from the speed control to the position control is suppressed because the force control is carried out during transition from the speed control to the position control, and the transition of the control is smoothly carried out. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
