SE9802997L - Apparatus and method for controlling the movement of a pneumatic actuator - Google Patents
Apparatus and method for controlling the movement of a pneumatic actuatorInfo
- 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
Links
- 238000000034 method Methods 0.000 title abstract 2
- 238000013178 mathematical model Methods 0.000 abstract 1
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.
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)
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)
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 |
-
1998
- 1998-09-04 SE SE9802997A patent/SE522303C2/en not_active IP Right Cessation
-
1999
- 1999-09-03 WO PCT/SE1999/001526 patent/WO2000013858A1/en not_active Application Discontinuation
- 1999-09-03 AU AU58947/99A patent/AU5894799A/en not_active Abandoned
- 1999-09-03 EP EP99946554A patent/EP1124668A1/en not_active Withdrawn
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 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
NUG | Patent has lapsed |