JPS6036601B2 - Method for manufacturing a filter using grinding powder of steel whose surface is replaced with copper - Google Patents

Description

Detailed Description of the Invention This invention simultaneously starts a plurality of stopped cylinders that perform related operations, and while keeping the speed ratio of each cylinder constant, each cylinder reaches its target position in the same time. This relates to a servo system control circuit that controls the speed and position of each cylinder to reach the desired position.

Accordingly, when controlling the speed ratio of a cylinder in the middle of its stroke by always maintaining it at an arbitrary constant value and controlling multiple cylinders in relation to each other, each cylinder's servo system must receive an individual command signal. However, this method has the disadvantage that it is difficult to maintain the speed ratio of each cylinder constant, and if this is attempted, the control section becomes quite complex. In order to solve these drawbacks, the present invention provides one common reference signal to a plurality of servo systems, and subtracts the primary signal to each servo system from this reference signal as an input signal to each servo system. It is an object of the present invention to provide a servo system control circuit that can always keep the speed ratio of each cylinder constant and can also achieve simultaneous start and stop.

Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1 shows an embodiment of the present invention, in which 1 and 1' are amplifiers, 2 and 2' are electro-hydraulic servo valves that perform proportional control of hydraulic flow by electric signals, and 3 and 3' are servo valves 2, 2' is a cylinder driven by the output of 2', 4, 4' is a position feedback detector that generates and feeds back an electric signal proportional to the position of the cylinder, 5, 5' is an amplifier 1.1' of each servo system. A multiplier installed at the front stage of the multiplier multiplies the reference signal voltage by the primary command signals S^ and SB for each system and provides it as an input to amplifiers 1 and 1'. 6 is a signal obtained by integrating the input signal over time. This is a reference voltage signal generation circuit designed to generate a waveform, and is composed of an integrating circuit consisting of an operational amplifier 7, a resistor 11, and a capacitor 14, and an output voltage limiting circuit consisting of an operational amplifier 8, a transistor 9, resistors 12, 13, and a diode 15. has been done.

10 is I for resetting the reference signal voltage to zero volts.
J set switch; 16 is a reference signal line connecting the reference voltage signal generation circuit 6 and the multipliers 5, 5'; 17, 17;
' is a primary command signal line, and 18, 19, 20, and 21 are terminals.

Next, the operation in such a configuration will be explained.

First, when the reset switch 10 is opened at time t=0 in FIG. 2 and an input signal is supplied from the input terminal 18, a voltage signal obtained by integrating the input signal over time is obtained at the output side of the operational amplifier 7. On the other hand, input terminal 1 of operational amplifier 8
9 is given the comparison voltage Vref, the maximum value of the reference signal voltage yc from the reference voltage signal generation circuit 6 is limited to the comparison voltage Vref. The reset switch 10 is a reset switch for resetting the reference signal voltage Vc to zero volts, and when the reset switch 10 is closed (
When turned on), the reference signal voltage Vc is always zero.

On the other hand, when the reset switch 10 is turned off, the second
As shown in the figure, the reference signal voltage Vc is zero only at the moment of time t = 0, and thereafter, as time passes, the reference signal voltage Vc starts to rise as shown in the characteristic curve shown in Figure 2, and reaches a maximum after time t = 0. It reaches the value Vref and then remains clamped at that value. This reference signal voltage Vc is supplied by a reference signal line 16 to the multipliers 5, 5' of each servo system. On the other hand, primary command signal S to each servo system
^, SB is connected to lines 17 and 17' from input terminals 20 and 21.
The signal is supplied to multipliers 5 and 5' via the .

Therefore, the outputs of multipliers 5 and 5' are Vc×S^,
Vc×SB, which is supplied as an input to amplifiers 1 and 1'. Now, when the values of the primary command signals S^ and SB are changed, the output lines of the multipliers 5 and 5' become ○^, 08 as shown in Figure 3.
It can be seen that the speed of each cylinder changes during its stroke. However, the start and stop times of each cylinder are t:
0 and t=t, and each cylinder has t=t.
, and holds that position. In order to return these cylinders to the starting position at t=0, it is sufficient to turn on the reset switch 10. This is because when the reset switch 10 is closed (turned on), the reference signal voltage Vc becomes zero, and the cylinder returns to the position before the start of the vehicle. In order to operate each shilling again while maintaining a constant speed ratio, it is sufficient to open the reset switch 10 again. By repeating the opening and closing operations of the reset switch 10 in this manner, the servo system can be repeatedly controlled while maintaining the simultaneous start and stop of each cylinder and the constant speed ratio. In this way, this control circuit supplies a common reference signal to each servo system, and uses this signal as an input signal by multiplying the primary command signal to each system, so the speed ratio of multiple cylinders This has the advantage that it is possible to easily keep constant at all times, and also to realize simultaneous starting and stopping of the shilling.

[Brief explanation of the drawing]

Fig. 1 is a wiring diagram showing a servo system control circuit which is an embodiment of the present invention, Fig. 2 is a diagram showing an example of the characteristic curve of the reference signal voltage shown in Fig. 1, and Fig. 3 is a diagram showing the multiplication of Fig. 1. FIG. 3 is a diagram showing an example of an output characteristic curve of the device. 1, 1'...Amplifier, 2, 2'...Electro-hydraulic servo valve, 3, 3'...Cylinder, 4
, 4'...Position feedback detector, 5, 5
'... Multiplier, 6... Reference voltage signal generation circuit, 7, 8... Operational amplifier, 9... Transistor, 10... Switch, 11, 12, 13・・・・・・
...Resistor, 14...Capacitor, 15...
...Diode, 16...Reference signal line, 17,
17'...Primary command signal line, 18, 19,
20, 21... terminal. Figure 1 Figure 2 Figure 3

Claims (1)

[Claims] 1. In a servo system control circuit that combines multiple servo systems consisting of a signal output amplifier, an electro-hydraulic servo valve, a cylinder, and a position feedback detector to perform mutually related operations, a common voltage is applied to each servo system. A reference signal generator is provided that generates a reference signal for each servo system, and each signal output obtained by multiplying this reference signal by a primary command signal that specifies the operating speed of each cylinder to each servo system is transmitted to the amplifier of the servo system. A servo system control circuit characterized in that the constant speed ratio of cylinder operation of each servo system and the simultaneity of starting and stopping are obtained by applying a voltage to the cylinder.