ロック機構をもつ油圧アクチュエータ系の差動PWM制御 : 負荷系に強制外力が存在する場合

概要

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In the preceding papers, the authors proposed a method of the differential PWM for a hydraulic actuator operated by two 3-way high-speed solenoid valves. The actuator operated by this method shows good linear characteristics as a controller which achieves accurate positioning. However, when the actuator is connected to a load with large force over Coulomb friction, an oscillatory motion appears in the steady state. Therefore, the actuator control system becomes considerably inaccurate. To solve this problem, a new type of actuator, which has 4 check valves, is designed in this study. The dynamic characteristics of the actuator, which has a spring as a load, are investigated by simulations and experiments. Consequently, it is clarified that the actuator can be controlled with high accuracy, retaining a merit of the differential PWM method, and moreover, that the permanence of the proposed actuator can be improved by adopting a locking mechanism.
社団法人日本機械学会の論文
1991-09-25