Control circuit for an electrically controlled servo device

• US 5,179,330 A
• Filed: 09/25/1990
• Issued: 01/12/1993
• Est. Priority Date: 09/25/1989
• Status: Expired due to Fees

• Current Assignee: Mannnesmann Rexroth GmbH Jahnstrasse D-8770 Lohr/Main
• Original Assignee: Mannesmann Rexroth GmbH (Robert Bosch GmbH)
• Inventors: Nikolaus, Heinrich
• Primary Examiner(s): Shoop, Jr., William M.
• Application Number:
  US07/588,052
• Time in Patent Office: 840 Days
• Field of Search: 318/620, 318/631, 318/687, 318/696, 318/567, 318/599, 318/644, 318/645, 137/625.65, 137/529, 60/452, 60/414
• US Class Current: 318/567
• CPC Class Codes: G05B 19/40 Open loop systems, e.g. using stepping motor
• CPC Class Codes: G05B 19/4142 characterised by the use of a microprocessor G05B19/4141 takes precedence
• CPC Class Codes: G05B 2219/33079 Table with functional, weighting coefficients, function
• CPC Class Codes: G05B 2219/37491 Compensate non linearity of transducer by lookup table
• CPC Class Codes: G05B 2219/37619 Characteristics of machine, deviation of movement, gauge,
• CPC Class Codes: G05B 2219/41156 Injection of vibration anti-stick, against static friction, dither, stiction
• CPC Class Codes: G05B 2219/41244 Dead band, zone
• CPC Class Codes: G05B 2219/41301 Pilot valve, linear fluid control valve and power cylinder
• CPC Class Codes: G05B 2219/42237 Pwm pulse width modulation, pulse to position modulation ppm

Abstract

A control circuit includes a microprocessor, a table store and an amplifier stage to control a controlled device which has a non-linear or linear, but discontinuous response curve. To obtain a linear response curve of the controlled device the table store is loaded with a response curve map in operating the controlled device. Thereafter the data loaded in pairs in the table store are inversely read-out and used as a control signal for the controlled device. The table store thus allows to linearize the response curve of the controlled device. In addition the data may be modified. According to the invention any correcting means to obtain an ideal response of the controlled device is eliminated. The invention provides for an optimum performance, smallest possible expenditure of circuitry and shortest possible control time.

Claims

1. A control circuit including a set point adjuster for an electrically controlled device for actuating a power member, in particular for a controlled device having a non-linear or linear non-continuous response curve, including a microprocessor for receiving a desired magnitude for the controlled device and for delivering a control magnitude for said controlled device and further including a memory connected to said microprocessor, characterized in that the response curve of the controlled device actuating said power member is stored in said memory, said response curve being composed of a number of input magnitudes and correlated output magnitudes of said controlled device, that for controlling the controlled device the desired magnitude corresponding to a desired output magnitude of the response curve is supplied to the microprocessor and that an input magnitude linearly correlated to said desired output magnitude is read-out from the memory, said input magnitude defining a control signal indicative of said control magnitude which is delivered to said controlled device, and wherein the sensitivity of the set point adjuster is modified by modifying the input or output magnitudes of the response curve stored in said memory using an offset value and a distortion factor.

2. The control circuit of claim 1 wherein the memory is loaded with a family of response curves.

3. The control circuit of claim 1 or 2, wherein the data loaded in the memory are modified to produce modified response curves for the control device.

9. The control circuit of claim 1 wherein the output signal of the microprocessor defines a pulse width modulated signal to control an amplifier stage for the controlled device.

10. The control circuit of claim 9 wherein the pulse width of the control signal is modified by superimposing a pulse width modulated signal of higher frequency.

11. The control circuit of claim 9 wherein the control signal supplied by the microprocessor is incrementally increased or decreased when a disturbance magnitude occurs.

12. The control circuit of claim 11 wherein the desired magnitude loaded in the memory is increased or decreased when a disturbance magnitude occurs to increase or to decrease the control signal.

13. The control circuit of claim 11 wherein the pump comprises a varying displacement pump and wherein the displacement volume of the displacement pump and the flow rate to the controlled device is modified to control the pump displacement volume and the flow rate to the controlled device.

4. In a hydraulic system including a controlled device and a pump, a set point adjuster and a control circuit for controlling the controlled device by an electrical signal, including a microprocessor for receiving a desired magnitude for the controlled device and for delivering a control magnitude for the controlled device and further including a memory connected to said microprocessor, wherein the memory is loaded with pairs each of input magnitudes and correlated output magnitudes of the controlled device defining a family of response curves representing the stroke of the controlled device, flow through the controlled device, pressure controlled by the controlled device or the output power of the pump, wherein for controlling the controlled device the desired magnitude corresponding to a desired output magnitude of the response curve is supplied to the microprocessor, wherein an input magnitude linearly correlated to the desired output magnitude is read-out from the memory, said input magnitude defining a control signal indicative of the control magnitude which is delivered to the controlled device and wherein the sensitivity of the set point adjuster is modified by modifying the input or output magnitudes of the response curves stored in said memory using an offset value and a distortion factor.

5. The control circuit of claim 4 wherein the controlled device comprises a valve having a valve control member and wherein the valve response curve, in particular the overlapping range of the valve control member is modified by arbitrarily modifying the data loaded in the memory.

6. The control circuit of claim 4 wherein the zero point adjustment of the set point adjuster is compensated by modifying the offset value in the memory.

7. The control circuit of claim 4 wherein the control signal read-out from the memory is superimposed with a Dither signal in the microprocessor.

8. The control circuit of claim 4 wherein a desired magnitude read in the memory is superimposed with a Dither signal in the microprocessor.