| 摘要 |
PROBLEM TO BE SOLVED: To eliminate the dead-zone quantity of a control valve resulting from a secular change by finding the dead-zone quantity of the control valve by inputting the output signals of a multiplier and a learning device which finds and outputs the dead-zone quantity of the control valve at which the acceleration variation of a cylinder rod becomes the minimum to a relay calculator. SOLUTION: A multiplier 14 obtains an output signal V by multiplying a deviation signal E outputted from a subtractor 18 by subtracting a feedback signal Y from a sensor from a command signal R by a gain K. The output is divided into two parts and one part is inputted to a relay calculator 16, with the other part being inputted to an adder 19. The relay calculator 16 outputs the positive, negative, or zero dead-zone quantity of the output signal V of the multiplier 14. The dead-zone quantity uses acceleration variationΔG from the sensor and the spool variation of a control valve outputted from a learning device 17 when the device 17 inputs velocity variationΔVel, namely, the dead-zone quantityΔX of the control valve. An adder 19 adds the output signal of the calculator 16 to the output signal V of the multiplier and outputs the added signal Vn to the control valve through a current converter 15.
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