SE9802997L - Apparatus and method for controlling the movement of a pneumatic actuator - Google Patents

Apparatus and method for controlling the movement of a pneumatic actuator

Info

Publication number
SE9802997L
SE9802997L SE9802997A SE9802997A SE9802997L SE 9802997 L SE9802997 L SE 9802997L SE 9802997 A SE9802997 A SE 9802997A SE 9802997 A SE9802997 A SE 9802997A SE 9802997 L SE9802997 L SE 9802997L
Authority
SE
Sweden
Prior art keywords
piston
controlling
control means
motion
control
Prior art date
Application number
SE9802997A
Other languages
Swedish (sv)
Other versions
SE9802997D0 (en
SE522303C2 (en
Inventor
Bohao Liao
Stefan Rosander
Original Assignee
Alfa Laval Agri Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alfa Laval Agri Ab filed Critical Alfa Laval Agri Ab
Priority to SE9802997A priority Critical patent/SE522303C2/en
Publication of SE9802997D0 publication Critical patent/SE9802997D0/en
Priority to AU58947/99A priority patent/AU5894799A/en
Priority to EP99946554A priority patent/EP1124668A1/en
Priority to PCT/SE1999/001526 priority patent/WO2000013858A1/en
Publication of SE9802997L publication Critical patent/SE9802997L/en
Publication of SE522303C2 publication Critical patent/SE522303C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/43—Programme-control systems fluidic
    • G05B19/44—Programme-control systems fluidic pneumatic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45113—Animal handling, milking robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Actuator (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

A method for controlling the motion of a pneumatic actuator (3), comprising at least one elongated cylinder (6) provided with a piston (4), dividing the cylinder (6) into a first chamber (5a) and a second chamber (5b), an actuating pressure supply line (14) connectable to at least one of said first and second chambers (5a, 5b), a control means (22a, 22b) for controlling the motion of the piston (4) relatively to the cylinder (6), and at least one sensor means (23, 30) adapted to sense a piston feature related to the piston motion and co-operating with the control means (22a, 22b). According to the invention a control device is provided with deterministically moving designs for the piston (4), a mathematical model (105, 105') in said control means (22a, 22b) for providing a control design system for controlling in a closed loop system a momentary movement of said piston (4) for each moving design based on said at least one piston feature signal, and generating a control signal (102) from said control means (22a, 22b) to move said piston (4) in accordance with an instant portion of the actual moving design.
SE9802997A 1998-09-04 1998-09-04 Apparatus and method for controlling the movement of a pneumatic actuator SE522303C2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
SE9802997A SE522303C2 (en) 1998-09-04 1998-09-04 Apparatus and method for controlling the movement of a pneumatic actuator
AU58947/99A AU5894799A (en) 1998-09-04 1999-09-03 A device and a method for controlling the motion of a pneumatic actuator
EP99946554A EP1124668A1 (en) 1998-09-04 1999-09-03 A device and a method for controlling the motion of a pneumatic actuator
PCT/SE1999/001526 WO2000013858A1 (en) 1998-09-04 1999-09-03 A device and a method for controlling the motion of a pneumatic actuator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9802997A SE522303C2 (en) 1998-09-04 1998-09-04 Apparatus and method for controlling the movement of a pneumatic actuator

Publications (3)

Publication Number Publication Date
SE9802997D0 SE9802997D0 (en) 1998-09-04
SE9802997L true SE9802997L (en) 2000-03-05
SE522303C2 SE522303C2 (en) 2004-01-27

Family

ID=20412488

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9802997A SE522303C2 (en) 1998-09-04 1998-09-04 Apparatus and method for controlling the movement of a pneumatic actuator

Country Status (4)

Country Link
EP (1) EP1124668A1 (en)
AU (1) AU5894799A (en)
SE (1) SE522303C2 (en)
WO (1) WO2000013858A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014066627A1 (en) * 2012-10-24 2014-05-01 California Institute Of Technology Hydraulic high pressure valve controller using the in-situ pressure difference
CN115844054A (en) * 2022-12-02 2023-03-28 江西中烟工业有限责任公司 Protection support device

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2600120B1 (en) * 1986-06-12 1990-06-29 Bertin & Cie METHOD AND DEVICE FOR CONTROLLING THE POSITION OF A PNEUMATIC CYLINDER
GB8900084D0 (en) * 1989-01-04 1989-03-01 British Res Agricult Eng Milking
US5424941A (en) * 1991-08-02 1995-06-13 Mosier Industries, Inc. Apparatus and method for positioning a pneumatic actuator
MX9306169A (en) * 1992-10-05 1995-01-31 Fisher Controls Int CALIBRATION OF THE ELECTRO-PNEUMATIC CONVERTER.
GB9306896D0 (en) * 1993-04-01 1993-05-26 Emhart Int Ltd Control system suitable for glassware forming machine

Also Published As

Publication number Publication date
SE9802997D0 (en) 1998-09-04
SE522303C2 (en) 2004-01-27
AU5894799A (en) 2000-03-27
EP1124668A1 (en) 2001-08-22
WO2000013858A1 (en) 2000-03-16

Similar Documents

Publication Publication Date Title
EP0827056A3 (en) Inner loop valve spool positioning control apparatus and method
CA2223328A1 (en) Pneumatically-operated gas demand apparatus
ATE355145T1 (en) PRINTING OR INJECTION MOLDING MACHINE
DE50008197D1 (en) Method of operating a screw compressor
TW343168B (en) A pneumatic actuator device
DE59506627D1 (en) Valve mechanism for a vacuum valve
SE8505679D0 (en) DIFFERENTIAL PRESSURE BIASED SPOOL TYPE VALVE CONTROLLER FOR A PNEUMATIC DUAL DIAPHRAGM CONTROL SYSTEM
SE9802997L (en) Apparatus and method for controlling the movement of a pneumatic actuator
FI883380A0 (en) Hydraulic distributor for impactor with non-compressible pressure fluid
SE9802996L (en) A protective device for controlling the movement of a pneumatic actuator
SE9703940D0 (en) Pump device for pressure calibration to generate vacuum and pressure
DE60131081D1 (en) HYDRAULIC IMPACTOR
ATE146257T1 (en) DEVICE FOR DRIVE CONTROL OF A TWO-CYLINDER THICK MATERIAL PUMP
GB2332939B (en) Means for testing a fluid valve and method therefor
KR100342887B1 (en) A marking apparatus using sylinder type vibrator
ATE185402T1 (en) DOSING PUMP DESIGNED AS A CAPSULE PUMP
CA2127051A1 (en) Vibrator for Transporting Articles
SE0101739L (en) Sequence controlled extension cylinders
SE9203737L (en) Pneumatic piston cylinder unit with hydraulic steering
KR970073839A (en) Control device and method of two-stage welding robot
NL1000098C2 (en) Device for generating fast movement for controlling free piston aggregate in particular
NL1000479C2 (en) Device for generating fast movement for controlling free piston aggregate in particular
NL1001939C2 (en) Device for generating fast movement for controlling free piston aggregate in particular
SE7908682L (en) APPARATUS FOR CONVERSING A PRESSURE FLOW MEDIUM TO A FORMING AND RETURNING MOVEMENT OF A DRIVE ELEMENT
JPS54120129A (en) Car height adjusting device

Legal Events

Date Code Title Description
NUG Patent has lapsed