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>> About control by a power hydraulic drive of throttle regulation
Control Systems - Dynamic Sinthesis - Synthesis of control by a power hydraulic drive of throttle regulation - About control by a power hydraulic drive of throttle regulation
About control by a power hydraulic drive of throttle regulation
As the power servo drive, for example, the construction of robotic systems, a hydraulic drive with throttle regulation (Fig. 1) can be used; therefore
a problem of construction of control algorithm for the such type drive reduces to synthesis of the throttle operating arrangement providing the
required law of movement of the executive hydraulic cylinder piston. The decision of this problem by a method of the movement law planning without
restriction a generality is maybe reduced to a problem of control by a throttle hydraulic drive at a stage of braking of the hydraulic cylinder
piston, discussed above in the section "Dynamic synthesis of hydraulic devices".
Accuracy of positioning in this case as calculations have shown is provided in required limits (an observable error on the piston movement <<
0.5 mm). Nevertheless, it is necessary to note, that at planning the law of movement by a polynomial it is necessary to specify in addition boundary
condition of equality to zero of the third derivative
in the end of braking at t = T to avoid possible consequences (at t > T), due to a change in pressures. It will lead to an
increase of a degree of an approximating polynomial up to the sixth. In actual system besides availability of special arrangements of type of the
hydraulic locks providing fixing of the hydraulic cylinder piston of the executive mechanism, apparently, is required. In view of inconstancy and
nonregistering of some parameters of hydraulic system it is necessary to provide also its raised damping properties.
In the rest the control algorithm for a hydraulic drive of throttle type practically is identical stated above at the solution to the problem of
dynamic synthesis of throttle brake devices of hydro cylinders (see the section "Dynamic synthesis of hydraulic devices").