| 摘要 |
PURPOSE:To attain the highly accurate speed/position control of a hydraulic actuator by detecting the shift speed and the acceleration to estimate the overrun amount of the stop control and changing one side of the positioning target value, etc. in response to the estimated overrun amount to perform the compensation of data. CONSTITUTION:A proportion control valve 20 is controlled via an amplifier 19 by a speed command given from a control unit 14. Then a hydraulic actuator 1 is driven. The set values of the position, the speed and the stop position respectively are supplied to the unit 14 from a sequence control circuit 21 via each setting units 18, 17 and 13. At the same time, the pressure 3 and the position 2 applied to the actuator 1 are also detected and supplied in the same way via a compensation arithmetic circuit 12, etc. Here an overrun estimating means 7 including an overrun amount arithmetic circuit 11, etc. Then an estimated overrun amount OVR is decided by the detected speed data Dv, the acceleration data Dx and the load condition detecting data Dp. Based on the amount OVR, the data Dx is equal to the value Dxo which is compensated with increase and decrease through the circuit 12. Then the value Dxo is compared 15 with the target value data Sx. |
