Control method and controller for a mechanohydraulic system

Details Control method and controller for a mechanohydraulic system Control method and controller for a mechanohydraulic system

G - Physics

05

B

G05B 13/04 (2006.01) F15B 9/09 (2006.01)

Patent

CA 2618143

The invention relates to a control method for a mechanical-hydraulic system having a degree of freedom per hydraulic actuator which is embodied as a control path, and a measuring sensor (6) which is used to measure the pressure ph of a hydraulic cylinder (3) and a measuring sensor (8) which is used to measure the position xh of the piston of the hydraulic cylinder (3). A control unit which can receive input variables of hydraulic pressure ph, and hydraulic actuator position xh, is provided. An observer, which determines the desired pressure of the hydraulic system and the speed vh of the hydraulic actuator (3), is implemented therein. The desired pressure in the control element is in taken into account in the set of rules of the control element and the speed vh of the hydraulic actuator can be over-ridden for attenuating the control element.

L'invention concerne un procédé de régulation et un régulateur destinés à un système mécanique/hydraulique présentant un degré de liberté par actionneur hydraulique servant de course de régulation, un capteur de mesure (6) destiné à mesurer la pression p<SUB>h </SUB>d'un cylindre hydraulique (3) et un capteur de mesure (8) destiné à mesurer la position x<SUB>h</SUB> du piston du cylindre hydraulique (3). Le dispositif selon l'invention comporte également une unité de régulation recevant les grandeurs d'entrée pression hydraulique p<SUB>h</SUB> et position d'actionneur hydraulique x<SUB>h</SUB>, dans laquelle un observateur est implémenté pour la détermination de la pression de consigne du système hydraulique et de la vitesse v<SUB>h</SUB> de l'actionneur hydraulique (3). Dans la loi de régulation du régulateur, la pression de consigne est prise en compte et la vitesse v<SUB>h</SUB> de l'actionneur hydraulique peut être additionnée pour l'amortissement de la régulation.

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