アンダラップタイプの単一比例弁とパソコンを使った油圧シリンダ速度・力制御に関する研究

概要

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In this study, the force and velocity control of hydraulic cylinders was performed by using a single proportional-type valve with a built-in underlap-type 4-way spool valve and a personal computer. In the case of the velocity control, the valve opening value of a proportional-type valve was calculated by mean of a personal computer to keep a constant flow rate running into the hydraulic cylinder even if the load that acted the cylinder was changed. For the purpose of determining the valve opening, the pressure value in the hydraulic circuit was detected using pressure sensors and a characteristic restrictor equation was employed. Consequently, a satisfied constant velocity of the piston was obtained. Next, in the force control of hydraulic cylinders, the pressure control of a cylinder chamber was carried out by changing the valve opening and keeping the state of a underlap between the spool and the sleeve. Therefore, an arbitrary thrust of hydraulic cylinders had been controlled. The sampling time during the velocity control ranging from 1 to 10ms had no effect on the control characteristics. But the sampling time during the force control had influenced the control characteristics. When the sampling time became longer, the over-shoot of the pressure in the hydraulic cylinders chamber increased and the amplitude of the pressure vibration became smaller.
豊田工業高等専門学校の論文
1992-12-01