| 摘要 |
PURPOSE:To stably control for clamping the die by adding the transmission function of COTQ of the toggle link angle theta and cancelling the influence of the toggle angle in the control system of the position loop. CONSTITUTION:In the press device that toggle mechanisms 8a, 8b are used, the defective influence caused on the die clamping with TAN characteristic of the toggle mechanism can be removed by providing the compensation means that the transmission function of COT theta of the toggle angle theta is added to the control system, and the die clamping can be stably executed. The gain deviation of the torque group with the toggle link angle theta can be suppressed by providing the torque compensation means that the current value of the driving motor 11 is multiplied by TANtheta and obtain the negative return signal, and the torque control can be made stable and the torque control is surely executed without relating the error of the mechanism assembling time. And the moving velocity of the moving platen 3, etc., can be made constant and the stability of the device can be realized by compensating the value of velocity command with COTtheta. |
