Abstract
In this study, the force control of hydraulic cylinders was carried out using a system consisting of a single proportional-type valve with a built-in overlap-type 4-way valve, two pressure sensors and personal computer. For the force control by using On/Off operation to the valve, we adopted a learning control and a PWM (Pulse Width Modulation) control with a constant off-time which is relatively short.For the purpose of obtaining a high response, the PWM control with a constant off-time which is modified a general PWM control by an off-time being constant was introduced to the force control. The system was good in response with a stable off-time of 2ms. In this case, the time lag from the electric current off to the valve closure was about 1ms. In the first place, the on-time table of the PWM has been prepared for the desired force and the error in the learning control. Also, the on-time table is corrected by the control which is in progress; therefore, this control response becomes higher than the case before learning. The thrust fluctuation of the hydraulic cylinder was able to be made smaller by controlling the spool position in the off-time of the valve.
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