JP2011215846A - Pressure controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pressure controller deciding whether or not a rotation position detection sensor or a drive part fails, and allowing proper measures to the failure when the failure occurs.SOLUTION: This pressure controller includes: a rotation position arithmetic means obtaining a rotation number of a rotary output shaft based on detection information of a first rotation position detection sensor, obtaining a rotation angle of the rotary output shaft based on detection information of a second rotation position detection sensor, and obtaining a rotation position of the rotary output shaft from the obtained rotation number and rotation angle of the rotary output shaft; a control part performing automatic operation to adjust a drive instruction value of the drive part such that the rotation position of the rotary output shaft obtained in the rotation position arithmetic means becomes a target rotation position; and a failure decision means comparing the detection information of the first rotation position detection sensor, the detection information of the second rotation position detection sensor, and the drive instruction value of the drive part during the automatic operation by the control part to decide which of the first rotation position detection sensor, the second rotation position sensor, and the drive part fails.

Description

  The present invention is provided with a pressure control valve that adjusts the secondary pressure of the fluid flow path to a set pressure, and a pressure setting unit that changes and sets the set pressure of the pressure control valve, and the pressure setting unit includes a spring A pressure setting spring capable of changing and setting the set pressure by adjusting a load, a rotation output shaft capable of rotating a pressure adjusting screw capable of adjusting a spring load applied to the pressure setting spring, and a drive for rotating the rotation output shaft The pressure control apparatus provided with the part.

The pressure control device as described above is provided in a fluid flow path such as a gas conduit for supplying city gas to each consumer, and adjusts the secondary side pressure to a desired set pressure. When city gas is supplied to each consumer through the gas conduit, the set pressure is set according to the load so that the pressure of the city gas supplied to each consumer is within a desired range even if the load fluctuates. It is required to change settings.
Therefore, the pressure setting unit of the pressure control device adjusts the spring load applied to the pressure setting spring by driving the rotation output shaft to rotate by the drive unit, thereby adjusting the spring load applied to the pressure setting spring. It is configured to automatically change settings.

  For example, since the set pressure of the pressure control valve needs to be changed and set to a target set pressure according to a load or the like, a potentiometer has conventionally been provided as a rotation position detection sensor for detecting the rotation position of the rotation output shaft. A control unit that adjusts the drive command value of the drive unit is provided so that the rotational position detected by the potentiometer is a target rotational position corresponding to the target set pressure (see, for example, Patent Document 1).

JP 2001-134323 A

In the apparatus described in Patent Document 1, the control unit adjusts the drive command value of the drive unit based on the detection information of the rotational position detection sensor, thereby changing the set pressure of the pressure control valve to the target set pressure. However, if a failure occurs in the rotational position detection sensor or the drive unit, the set pressure of the pressure control valve cannot be changed to the target set pressure.
Therefore, it is required to determine whether or not the rotational position detection sensor or the drive unit is out of order, but the apparatus described in Patent Document 1 does not determine such a failure.

  The present invention has been made paying attention to such a point, and its purpose is to determine whether or not the rotational position detection sensor or the drive unit is out of order, and if there is a failure, the failure It is in the point which provides the pressure control apparatus which can perform suitable treatment with respect to.

In order to achieve this object, the characteristic configuration of the pressure control device according to the present invention includes a pressure control valve that adjusts the secondary side pressure of the fluid flow path to a set pressure, and changes and sets the set pressure of the pressure control valve. The pressure setting unit rotates a pressure setting spring capable of changing and setting the set pressure by adjusting a spring load and a pressure adjusting screw capable of adjusting a spring load applied to the pressure setting spring. In a pressure control device comprising a free rotation output shaft and a drive unit that rotationally drives the rotation output shaft,
A rotation position of the rotation output shaft, a rotation position of the rotation output shaft, or a rotation position of the rotation output shaft. A second rotational position detection sensor for detecting a rotational position of the second reduction rotational shaft transmitted by being reduced by a reduction speed rate reduction mechanism whose rotation rate is lower than that of the reference reduction mechanism; and the first rotational position detection The rotation speed of the rotation output shaft is obtained based on the detection information of the sensor, and the rotation angle of the rotation output shaft is obtained based on the detection information of the second rotation position detection sensor. Rotation position calculation means for obtaining the rotation position of the rotation output shaft from the number of rotations and rotation angle, and the drive unit so that the rotation position of the rotation output shaft obtained by the rotation position calculation means becomes a target rotation position. A control unit that performs automatic operation for adjusting a drive command value; and during the automatic operation by the control unit, detection information of the first rotational position detection sensor, detection information of the second rotational position detection sensor, and Comparing with a drive command value, the first rotation position detection sensor, the second rotation position detection sensor, and a failure determination unit that determines that any of the drive units is in failure It is in.

  According to this characteristic configuration, when the rotation output shaft makes one rotation, the rotation of the rotation output shaft can be decelerated by the reference reduction mechanism so that the first reduction rotation shaft rotates by a predetermined angle. The rotation position of the first reduction rotation shaft detected by the first rotation position detection sensor is obtained by reducing the rotation of the rotation output shaft by the reference reduction mechanism. Therefore, the reduction rate of the reference reduction mechanism is used. The rotation speed of the rotation output shaft can be obtained from the rotation position of the first reduction rotation shaft detected by the first rotation position detection sensor. Further, when the rotation position of the rotation output shaft is detected by the second rotation position detection sensor, the rotation angle of the rotation output shaft can be directly obtained from the rotation position of the rotation output shaft. When the rotational position of the second reduction rotational shaft is detected, the rotational output shaft is detected from the rotational position of the second reduction rotational shaft detected by the second rotational position detection sensor by using the deceleration rate of the speed reduction mechanism. Can be obtained. And although the rotation of the rotation output shaft is decelerated, the second decelerating rotation shaft is decelerated by the reduction speed rate reduction mechanism having a lower deceleration rate than the reference deceleration mechanism, and the rotation of the rotation output shaft is transmitted. Therefore, not only when the rotation position of the rotation output shaft is detected as it is by the second rotation position detection sensor, but also when the rotation position of the second reduction rotation shaft is detected by the second rotation position detection sensor, the resolution is greatly reduced. The rotation angle of the rotation output shaft can be detected without any problem.

  Thus, the rotational position calculation means can obtain the rotational speed of the rotational output shaft based on the detection information of the first rotational position detection sensor, and also the rotational output shaft based on the detection information of the second rotational position detection sensor. Therefore, the rotational position of the rotation output shaft can be determined finely and appropriately from the determined rotation speed and rotation angle of the rotation output shaft. Therefore, the control unit performs automatic operation to adjust the drive command value of the drive unit so that the rotation position of the rotation output shaft obtained by the rotation position calculation unit becomes the target rotation position, so that the set pressure of the pressure control valve Can be accurately changed to the target set pressure. Here, the drive command value is a value for instructing the drive unit to drive the drive unit with a desired drive amount.

  Then, the control unit performs automatic operation. During the automatic operation by the control unit, the failure determination means includes detection information of the first rotation position detection sensor, detection information of the second rotation position detection sensor, and drive unit. Are compared with the drive command value, and it is determined that one of the first rotational position detection sensor, the second rotational position detection sensor, and the drive unit is out of order.

  That is, by using the deceleration rate of the reference deceleration mechanism, not only the rotation speed of the rotation output shaft but also the rotation angle of the rotation output shaft can be obtained from the detection information of the first rotation position detection sensor. The rotational position of the rotational output shaft can be obtained from the rotational speed and rotational angle of the output shaft. For the second rotational position detection sensor, not only the rotational angle of the rotational output shaft but also the number of times the rotational position of the rotational output shaft passes through a position of 360 degrees is detected from the detection information of the second rotational position detection sensor. By integrating, the rotation speed of the rotation output shaft can also be obtained, so the rotation position of the rotation output shaft can be obtained from the rotation speed and rotation angle of the rotation output shaft. In automatic operation, the relative relationship between the rotation position of the rotation output shaft and the drive command value of the drive unit (for example, a proportional relationship such that the drive command value of the drive unit increases as the rotation position of the rotation output shaft increases). The drive command value of the drive unit is adjusted so that the rotation position of the rotation output shaft becomes the target rotation position using this relative relationship. Thereby, the rotational position of the rotation output shaft can be obtained from the drive command value of the drive unit during automatic operation by using the relative relationship between the rotation position of the rotation output shaft and the drive command value of the drive unit.

  Therefore, the failure determination means rotates the rotation output shaft separately from each of the detection information of the first rotation position detection sensor, the detection information of the second rotation position detection sensor, and the drive command value of the drive unit during automatic operation. Since the position can be obtained, one of the first rotational position detection sensor, the second rotational position detection sensor, and the drive unit is out of order by comparing the rotational positions of the rotational output shafts obtained individually. Is determined. That is, if all of the first rotational position detection sensor, the second rotational position detection sensor, and the drive unit are normal, each of the rotational positions of the rotation output shafts obtained separately has the same value. When only the failure occurs, only the rotation position of the rotation output shaft obtained based on the drive command value of the drive unit becomes a different value, and when only the first rotation position detection sensor or the second rotation position detection sensor fails However, only the rotation position of the rotation output shaft obtained based on the detection information of the malfunctioning sensor is a different value. Therefore, the failure determination means compares each of the rotation positions of the rotation output shafts obtained separately, and any of the first rotation position detection sensor, the second rotation position detection sensor, and the drive unit is in failure. Can be determined.

  Summarizing the above, according to this characteristic configuration, the rotation position of the rotation output shaft is determined in a fine and appropriate manner using the first rotation position detection sensor and the second rotation position detection sensor, and the set pressure of the pressure control valve is determined. Can be changed to the target set pressure with high accuracy, and any one of the first rotational position detection sensor, the second rotational position detection sensor, and the drive unit fails during the automatic operation. It can be determined that there is a problem, and appropriate measures such as, for example, stopping the automatic operation can be performed for the failure.

  According to a further characteristic configuration of the pressure control device according to the present invention, the failure determination means includes a rotation position of the rotation output shaft obtained based on detection information of the first rotation position detection sensor and the second rotation position detection sensor. If the rotation position of the rotation output shaft obtained based on the drive command value of the drive unit is different from the rotation position of the rotation output shaft obtained based on the detection information of The point is that it is determined as a failure.

  As described above, the failure determination means is configured to rotate the rotation output shaft separately from each of the detection information of the first rotation position detection sensor, the detection information of the second rotation position detection sensor, and the drive command value of the drive unit during automatic operation. And the rotation position of the rotation output shaft obtained separately is compared, and any of the first rotation position detection sensor, the second rotation position detection sensor, and the drive unit is out of order. Determine. According to this characteristic configuration, when only the rotation position of the rotation output shaft obtained based on the drive command value of the drive unit is a different value, the failure determination unit determines that the drive unit is defective. Thus, it is possible to appropriately determine the failure of the drive unit.

  A further characteristic configuration of the pressure control device according to the present invention is that, when the failure determination unit determines that the drive unit has failed, the control unit stops driving the drive unit and stops the automatic operation. .

  If the drive unit fails, even if the control unit adjusts the drive command value of the drive unit, the desired drive amount commanded by the drive command value cannot be obtained, and the set pressure of the pressure control valve is set to the target set pressure. It becomes impossible to change the setting. Therefore, according to this feature configuration, when the failure determination means determines that the drive unit is faulty, the control unit stops driving the drive unit and stops automatic operation, so that the set pressure of the pressure control valve is equal to the target set pressure. Can be prevented from being changed to a different set pressure, and a measure for the failure of the drive unit can be appropriately performed.

  According to a further characteristic configuration of the pressure control device according to the present invention, the failure determination means includes a rotation position of the rotation output shaft obtained based on detection information of the first rotation position detection sensor and a drive command value of the drive unit. If the rotation position of the rotation output shaft calculated based on the second rotation position detection sensor is the same as the rotation position of the rotation output shaft calculated based on the detection information of the second rotation position detection sensor, the second rotation Rotation of the rotation output shaft determined based on the rotation position of the rotation output shaft determined based on the detection information of the second rotation position detection sensor and the drive command value of the drive unit determined as a failure of the position detection sensor If the rotation position of the rotation output shaft obtained based on the detection information of the first rotation position detection sensor is different and the rotation position of the rotation output shaft is different, it is determined that the first rotation position detection sensor has failed. .

  According to this characteristic configuration, when only the rotational position of the rotational output shaft obtained based on the detection information of the first rotational position detection sensor has a different value, the failure determination means determines that the failure of the first rotational position detection sensor And the failure of the first rotational position detection sensor can be appropriately determined, and only the rotational position of the rotational output shaft obtained based on the detection information of the second rotational position detection sensor is a different value. In this case, the failure determination means can determine that the second rotational position detection sensor is defective and appropriately determine the failure of the second rotational position detection sensor.

  A further characteristic configuration of the pressure control device according to the present invention is that the rotational position calculation means determines that a failure has occurred when the failure determination means determines that the first rotational position detection sensor or the second rotational position detection sensor has failed. Based on the detection information of the second rotational position detection sensor or the first rotational position detection sensor that has not been determined, both the rotational speed of the rotational output shaft and the rotational angle of the rotational output shaft are obtained to determine the rotational output shaft. The controller is configured to obtain a rotational position, and the controller performs a continuous operation to continue the automatic operation when the failure determination means determines that the failure of the first rotational position detection sensor or the second rotational position detection sensor. In the point.

As described above, the first rotational position detection sensor is used for obtaining the rotational speed of the rotational output shaft, but has a slightly higher resolution than that for obtaining the rotational angle of the rotational output shaft using the second rotational position detection sensor. However, the rotational position calculation means can also determine the rotational angle of the rotational output shaft from the detection information of the first rotational position detection sensor by using the deceleration rate of the reference deceleration mechanism. Therefore, the rotational position calculation means can obtain not only the rotational speed of the rotational output shaft but also the rotational angle of the rotational output shaft from the detection information of the first rotational position detection sensor using the deceleration rate of the reference deceleration mechanism. The rotation position of the rotation output shaft can be obtained from the rotation speed and rotation angle of the rotation output shaft.
Further, in the second rotational position detection sensor, for example, the rotational number of the rotational output shaft is obtained by accumulating the number of times that the rotational position of the rotational output shaft passes through the 360 degree position and storing the cumulative number. it can. Thus, if the number of times that the rotational position of the rotation output shaft passes through the 360 degree position is accumulated and the accumulated number is stored, the volatile memory does not retain the memory at the time of a power failure, or even a non-volatile memory causes a power failure. Although there are disadvantages such as not knowing if it is forcibly moved from time to time, the rotational position calculation means determines not only the rotational angle of the rotational output shaft but also the rotational speed of the rotational output shaft from the detection information of the second rotational position detection sensor. Since it can obtain | require, the rotation position of a rotation output shaft can be calculated | required from the rotation speed and rotation angle of these rotation output shafts.
Thus, the rotational position calculation means can determine the rotational position of the rotational output shaft using only the first rotational position detection sensor or only the second rotational position detection sensor.

  Therefore, according to this characteristic configuration, when the failure determination means determines that the first rotation position detection sensor or the second rotation position detection sensor is defective, the rotation position calculation means only includes the second rotation position detection sensor or the first rotation position detection sensor. The rotational position of the rotational output shaft is obtained using only the rotational position detection sensor, and the control unit calculates the rotational position of the rotational output shaft obtained by the rotational position calculation means using only the second rotational position detection sensor or only the first rotational position detection sensor. The continuous operation for continuing the automatic operation for adjusting the drive command value of the drive unit is performed so that the rotation position becomes the target rotation position. As a result, when it is determined that the first rotational position detection sensor or the second rotational position detection sensor is out of order, the automatic operation is not stopped but the continuous operation is performed, and the first rotational position detection sensor or the second rotational position is detected. The change setting of the set pressure of the pressure control valve to the target set pressure can be continuously performed while appropriately taking measures against the failure of the position detection sensor.

  In a further characteristic configuration of the pressure control device according to the present invention, the control unit is based on a deviation between the rotation position of the rotation output shaft and the target rotation position obtained by the rotation position calculation means in the automatic operation. In the continuous operation when the failure determination means determines that the first rotational position detection sensor is defective, the control unit is configured to perform feedback control that adjusts the drive command value of the drive unit. In the continuous operation when feedback control is performed and the failure determination unit determines that the second rotation position detection sensor is failed, the rotation position of the rotation output shaft calculated by the rotation position calculation unit is calculated by the control unit. Is that sequence control is performed to adjust the drive command value of the drive unit in a predetermined drive state until the target rotational position is reached.

As described above, in the automatic operation, the rotation position of the rotation output shaft can be determined in detail using the first rotation position detection sensor and the second rotation position detection sensor. Therefore, according to this characteristic configuration, in the automatic operation that is a normal operation, the control unit determines the drive unit based on the deviation between the rotation position of the rotation output shaft and the target rotation position obtained by the rotation position calculation unit. Performs feedback control to adjust the drive command value. As a result, in automatic operation, which is normal operation, the rotational position of the rotary output shaft can be adjusted smoothly and accurately, and the set pressure of the pressure control valve can be changed and set to the target set pressure smoothly and accurately. Can do.
Even in the continuous operation when the failure determination means determines that the first rotation position detection sensor has failed, the rotation angle of the rotation output shaft can be obtained using the second rotation position detection sensor as in the automatic operation. The rotation angle of the rotation output shaft can be obtained without reducing the resolution, and the rotation position of the rotation output shaft can be obtained in detail. Therefore, according to this characteristic configuration, in the continuous operation when the failure determination unit determines that the first rotational position detection sensor is defective, the feedback control is performed in the same manner as in the automatic operation, so that the rotational position of the rotation output shaft is determined. Adjustment can be made smoothly and accurately, and the set pressure of the pressure control valve can be smoothly changed and set to the target set pressure.

Further, as described above, in the continuous operation when the failure determination means determines that the second rotational position detection sensor is defective, unlike the automatic operation, the rotation angle of the rotation output shaft is obtained using the first rotational position detection sensor. As a result, the resolution is somewhat reduced, and the accuracy of the rotational position of the required rotation output shaft is somewhat lowered as compared with the automatic operation. As described above, when the accuracy of the rotational position of the rotational output shaft obtained by the rotational position calculating means is somewhat lowered, the feedback control described above is sensitive to the deviation between the rotational position of the rotational output shaft and the target rotational position. In other words, there is a possibility that the rotational position of the rotary output shaft cannot be adjusted smoothly.
Therefore, according to this feature configuration, in the continuous operation when the failure determination means determines that the second rotation position detection sensor is failed, the rotation position of the rotation output shaft obtained by the rotation position calculation means by the control unit is the target. Sequence control is performed to adjust the drive command value of the drive unit in a predetermined drive state until the rotation position is reached. As a result, when the accuracy of the rotational position of the rotational output shaft required by the rotational position computing means is somewhat degraded, the rotational position of the rotational output shaft can be adjusted smoothly by performing sequence control instead of feedback control. The set pressure of the pressure control valve can be smoothly changed to the target set pressure.

Overall schematic diagram of pressure control device Schematic perspective view of pilot valve and pressure setting unit Schematic sectional view of pilot valve and pressure setting part Perspective view showing a part of the pressure setting section Perspective view showing a part of the pressure setting section Flow chart showing operation of failure determination processing

[First Embodiment]
An embodiment of a pressure control device according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, the pressure control device includes a pressure control valve 2 that adjusts the secondary pressure of the fluid flow path 1 to a set pressure, and a pressure setting unit 3 that changes and sets the set pressure of the pressure control valve 2. And is configured. The pressure control device is provided with a pilot valve 4 that supplies a drive pressure to the pressure control valve 2 so that the secondary pressure of the fluid flow path 1 becomes a set pressure. By adjusting 4, the set pressure of the pressure control valve 2 is changed and set.

  Here, although illustration is omitted, for example, by branching the downstream side of the pressure control valve 2 of the fluid flow path 1 into a plurality of branch paths and connecting each of the plurality of branch paths to each consumer, It is configured to supply a fluid such as natural gas to a plurality of consumers. The secondary pressure on the downstream side of the pressure control valve 2 is adjusted to a set pressure lower than the primary pressure on the upstream side.

  The pressure control valve 2 includes a first diaphragm D1, and the internal space is partitioned into a first chamber H1 and a second chamber H2 by the first diaphragm D1. The pressure control valve 2 includes a first valve body B1 that opens and closes the fluid flow path 1, and the first valve body B1 is configured to be opened and closed by a first diaphragm D1. The first chamber H1 is provided with a first biasing spring G1 that biases the first diaphragm D1 toward the valve closing direction of the first valve body B1.

  The pilot valve 4 includes a second diaphragm D2 and a third diaphragm D3, and the internal spaces of the second diaphragm D2 and the third diaphragm D3 are the third chamber H3, the fourth chamber H4, and the fifth chamber H5. It is divided into. The third chamber H3 is communicatively connected to the secondary side of the fluid flow path 1 (downstream side from the pressure control valve 2) by the first secondary pressure introduction path 5, and the second secondary pressure The introduction path 6 is connected to the first chamber H1 of the pressure control valve 2 in communication. The fourth chamber H4 is connected to the primary side (upstream side of the pressure control valve 2) of the fluid flow path 1 by the primary pressure introduction path 7 and is connected to the pressure control valve 2 by the driving pressure introduction path 8. The two rooms H2 are connected in communication. Although not shown, the second diaphragm D2 and the third diaphragm D3 are connected by a connecting portion or the like, and are configured to be integrally displaceable up and down. A second urging spring G2 is disposed in the fifth chamber H5. The second urging spring G2 urges the third diaphragm D3 toward the fourth chamber H4, whereby the second diaphragm D2 is urged toward the third chamber H3 side.

  A second valve body B2 is provided at the distal end of the primary pressure introduction path 7, and the second valve body B2 is configured to be opened and closed by a second diaphragm D2. That is, when the second diaphragm D2 is displaced toward the third chamber H3, the second valve body B2 is opened, and the fluid on the primary side of the fluid flow path 1 passes through the primary pressure introduction path 7 to the fourth chamber H4. be introduced. On the other hand, the displacement of the second diaphragm D2 toward the fourth chamber H4 moves the second valve body B2 toward the valve closing side, thereby reducing the amount of primary fluid introduced into the fourth chamber H4.

The operation when the secondary pressure is adjusted to the set pressure will be described.
When the secondary pressure of the fluid flow path 1 falls below the set pressure, the third chamber H3 of the pilot valve 4 that is connected to the secondary side of the fluid flow path 1 through the first secondary pressure introduction path 5 And the second diaphragm D2 is displaced toward the third chamber H3 by the biasing force of the second biasing spring G2. As a result, the second valve body B2 of the pilot valve 4 is operated to the open side, and the primary side pressure of the fluid flow path 1 is introduced into the fourth chamber H4 through the primary side pressure introduction path 7, and the pressure in the fourth chamber H4 Rises. Then, the increased pressure in the fourth chamber H4 is supplied as the driving pressure to the second chamber H2 of the pressure control valve 2 through the driving pressure introduction path 8, and the pressure in the second chamber H2 also increases, and the first chamber H1. The first diaphragm D1 is displaced toward the first chamber H1 due to the pressure difference between the first chamber H2 and the second chamber H2. Therefore, the first valve body B1 of the pressure control valve 2 is operated to the open side, and the secondary side pressure of the fluid flow path 1 is increased to adjust the secondary side pressure to the set pressure.

  On the other hand, when the secondary side pressure rises higher than the set pressure, the pressure in the third chamber H3 of the pilot valve 4 rises, and the second diaphragm D2 resists the biasing force of the second biasing spring G2, and the second diaphragm D2 moves into the fourth chamber H4. Displace to the side. As a result, the second valve body B2 of the pilot valve 4 is operated to the closed side, and there is no fluid supply source to the fourth chamber H4. Then, the fluid in the second chamber H2 is discharged to the secondary side via the orifice U, the second secondary pressure introduction path 6, the third chamber H3, and the first secondary pressure introduction path 5, and the second chamber H2 is discharged to the secondary side. The pressure in the two chambers H2 decreases, and the first diaphragm D1 is displaced toward the second chamber H2 due to the pressure difference between the first chamber H1 and the second chamber H2. Accordingly, the first valve body B1 of the pressure control valve 2 is operated to the closed side, and the secondary side pressure of the fluid flow path 1 is reduced to adjust the secondary side pressure to the set pressure.

  The set pressure of the pressure control valve 2 is not always a constant pressure, but the set pressure is adjusted to the target set pressure that is changed according to the load or the like by providing the pressure setting unit 3. For example, in the fluid flow path 1, the load becomes large during a time period in which much demand is expected, so the pressure setting unit 3 adjusts the set pressure to a high target set pressure, and the load is set in other time periods. Therefore, the set pressure is adjusted to the low target set pressure.

  As described above, in the pilot valve 4, the driving pressure corresponding to the magnitude relationship between the urging force of the second urging spring G <b> 2 and the secondary side pressure supplied through the first secondary side pressure introduction path 5 is the pilot valve 4. To the pressure control valve 2, and the secondary pressure is adjusted to the set pressure by the pressure control valve 2. Therefore, the pressure setting unit 3 changes and sets the set pressure of the pressure control valve 2, but the second biasing spring G2 is configured as a pressure setting spring 9 that sets the set pressure of the pressure control valve 2. By adjusting the spring load of the pressure setting spring 9 (second biasing spring G2), the set pressure of the pressure control valve 2 can be changed and set.

  As shown in FIGS. 2 and 3, the pressure setting unit 3 rotates the pressure adjusting screw 10 that can adjust the spring load applied to the pressure setting spring 9 in addition to the pressure setting spring 9 described above. The driving unit 11 includes a driving motor 23 (corresponding to a driving unit) to be controlled, a control unit (not shown) that adjusts a driving command value of the driving motor 23 to change and set a set pressure, and the like. The pressure setting unit 3 is provided with a pressure setting spring 9 and a pressure adjusting screw 10 inside a pilot valve forming unit 14 that forms the pilot valve 4, and a drive unit 11 and a control unit ( The pilot valve forming portion 14 and the storage case 15 are connected to each other so that the spring load of the pressure setting spring 9 can be adjusted.

  As shown in FIG. 3, the pressure setting spring 9 of the pressure setting unit 3 is disposed in the fifth chamber H5 of the pilot valve 4, its upper end is in contact with the third diaphragm D3, and its lower end is It is in contact with the spring receiver 13. And in the lower part which forms the 5th chamber H5 among pilot valve formation parts 14, the 1st screw part N1 is formed in the inner wall part, and spring receiving part 13 was formed in the outer peripheral part. The second screw portion N2 and the first screw portion N1 formed on the pilot valve forming portion 14 are provided in a screwed state. In the fifth chamber H5 of the pilot valve 4, a first rotating shaft J1 is disposed in a state of penetrating the spring receiving portion 13 in the vertical direction. 1 rotation axis J1 and the spring receiving part 13 rotate integrally, and the spring receiving part 13 is comprised so that it may move up and down. The spring receiving portion 13 is moved up and down by integral rotation of the first rotating shaft J1 and the spring receiving portion 13, and the spring load applied to the pressure setting spring 9 is adjustable. Thereby, the first rotating shaft J1 and the spring receiving portion 13 are configured as the pressure adjusting screw 10. Further, the first rotating shaft J1 is disposed in a state where the lower end portion having a small diameter penetrates the pilot valve forming portion 14 and protrudes downward.

  On the other hand, as shown in FIG. 3, the drive means 11 and the control part of the pressure setting unit 3 are disposed inside the storage case 15 together with the second rotating shaft J <b> 2 that is rotationally driven by the drive means 11. The second rotating shaft J2 is disposed in a state where the upper end side portion protrudes upward from the storage case 15. And the lower end side part of the 1st rotating shaft J1 and the upper end side part of the 2nd rotating shaft J2 are connected by the rotating shaft connection part 16, and the 1st rotating shaft J1 and the 2nd rotating shaft J2 are integrated. It is configured to be freely rotatable. As a result, the second rotating shaft J2 is rotationally driven by the driving means 11, whereby the second rotating shaft J2 and the first rotating shaft J1 are integrally rotated to move the spring receiving portion 13 up and down, and the pressure setting spring. Adjust the spring load applied to 9.

  As for the connection between the pilot valve forming portion 14 and the storage case 15, as shown in FIGS. 2 and 3, in addition to the rotating shaft connecting portion 16 that connects the first rotating shaft J1 and the second rotating shaft J2, the pilot valve forming portion 14 and the storage case 15 are connected. A connecting member 22 that connects the plate-like first connecting portion K1 fixed to the valve forming portion 14 and the plate-like second connecting portion K2 fixed to the upper end side portion of the storage case 15 is provided. The connecting member 22 is formed in a columnar shape, and a plurality (four in this embodiment) are provided, and the first connecting portion K1 and the second connecting portion K2 are connected at a plurality of locations. In order to electrically insulate the pilot valve 4 and the storage case 15, for example, an insulating member is interposed between the second connecting portion K2 and the connecting member 22 is connected to the second connecting portion K2. The connecting member 22 itself is made of an insulating material.

As shown in FIG. 4, the drive unit 11 includes an electric drive motor 23 and a drive speed reduction mechanism S <b> 1 that rotates the second rotary shaft J <b> 2 by the rotational drive force of the drive motor 23. The drive reduction mechanism S1 includes a drive gear 24 fixed to the output shaft of the drive motor 23, and a first gear F1 externally fixed to the second rotating shaft J2. The first gear F1 is a drive gear. The drive gear 24 and the first gear F1 are engaged with each other. As a result, the rotation of the drive motor 23 is decelerated by the drive speed reduction mechanism S1 and then transmitted to the second rotation axis J2. The drive motor 23 rotates the second rotation axis J2.
As described above, when the second rotating shaft J2 is rotationally driven by the drive motor 23, the second rotating shaft J2 and the first rotating shaft J1 are integrally rotated to move the spring receiving portion 13 up and down as described above. The set pressure of the pressure control valve 2 can be changed and set by adjusting the spring load applied to the pressure setting spring 9 (see FIG. 3).

  In the pressure control device according to the present invention, the control unit of the pressure setting unit 3 monitors the rotation position of the second rotation shaft J2 (corresponding to the rotation output shaft), and the rotation position of the second rotation shaft J2 is An automatic operation for adjusting the drive command value of the drive motor 23 is performed so that the target rotation position corresponding to the target set pressure is obtained. Here, the drive command value is a value for commanding the drive motor 23 in order to drive the drive motor 23 with a desired drive amount. The controller changes and sets the set pressure of the pressure control valve 2 to the target set pressure by performing this automatic operation. Therefore, as shown in FIGS. 4 and 5, the pressure setting unit 3 is provided with a rotation position detection sensor 25 that detects the rotation position of the second rotation axis J <b> 2, and the control unit detects the rotation position detection sensor 25. Based on the 25 detection information, the rotation position of the second rotation axis J2 is monitored.

(Rotation position detection sensor)
In the pressure control device according to the present invention, as shown in FIG. 5, as the rotational position detection sensor 25, a rotational angle detection sensor 26 (second rotational sensor) for detecting the rotational angle of the second rotational axis J2 within 360 degrees. Two rotational position detection sensors, which correspond to a rotational position detection sensor) and a rotational speed detection sensor 27 (corresponding to a first rotational position detection sensor) for detecting the rotational speed of the second rotational axis J2. ing.

  The rotation angle detection sensor 26 is disposed at the lower end portion of the second rotation axis J2 (corresponding to the rotation output axis), and is directly connected to the second rotation axis J2 that is a rotation angle detection target within 360 degrees. It is attached. Therefore, the rotation angle detection sensor 26 is configured to be able to detect the rotation position of the second rotation axis J2 within 360 degrees as the rotation angle of the second rotation axis J2 within 360 degrees.

  The rotation speed detection sensor 27 transmits a third rotation shaft J3 (corresponding to the first reduction rotation shaft) transmitted by the reference deceleration mechanism S2 with the rotation of the second rotation shaft J2 (corresponding to the rotation output shaft) being reduced. It is comprised so that the rotation position of may be detected. The third rotation axis J3 is arranged in a state extending in a direction orthogonal to the second rotation axis J2. The reference speed reduction mechanism S2 is in a state in which the second gear F2 formed on the outer peripheral portion of the second rotating shaft J2 and the third gear F3 fixed to the third rotating shaft J3 mesh with each other below the first gear F1. It is comprised with the worm reduction mechanism provided in. Here, the second rotation axis J2 has a rotation range from the lower limit target rotation position corresponding to the minimum value of the target set pressure to the upper limit target rotation position corresponding to the maximum value of the target set pressure. The deceleration rate is set so that the rotation range of the third rotation axis J3 is within 360 degrees with respect to the rotation range of the second rotation axis J2.

(self-driving)
Hereinafter, the operation of the control unit in automatic operation will be described.
The control unit of the pressure setting unit 3 obtains the rotation position of the second rotation axis J2 within 360 degrees detected by the rotation angle detection sensor 26 as the rotation angle P1 of the second rotation axis J2 within 360 degrees. Further, the control unit of the pressure setting unit 3 obtains the rotation speed P2 of the second rotation shaft J2 from the rotation position of the third rotation shaft J3 detected by the rotation speed detection sensor 27 and the deceleration rate of the reference deceleration mechanism S2. Yes. Then, the control unit of the pressure setting unit 3 performs the second rotation using the following [Equation 1] from the obtained rotation angle P1 of the second rotation axis J2 and the obtained rotation speed P2 of the second rotation axis J2. The rotational position P3 of the axis J2 is obtained. Thereby, a control part is equivalent to a rotation position calculating means.

[Equation 1]
P3 = P1 + 360 × P2
Here, P1 is the rotation angle of the second rotation axis J2, P2 is the rotation speed of the second rotation axis J2, and P3 is the rotation position of the second rotation axis J2.

  The control unit of the pressure setting unit 3 determines the magnitude relationship between the rotation position of the second rotation axis J2 and the set pressure of the pressure control valve 2 (for example, the pressure position of the pressure control valve 2 increases as the rotation position of the second rotation axis J2 increases). The relationship between the set pressure and the like is stored in advance, and the rotation of the second rotary shaft J2 is performed using the stored magnitude relationship so that the set pressure of the pressure control valve 2 becomes the target set pressure. In order to adjust the position, the drive command value of the drive motor 23 is adjusted. That is, the control unit 12 obtains the target rotational position of the second rotational axis J2 corresponding to the target set pressure from the stored magnitude relationship, and the rotational position of the second rotational axis J2 obtained in the above [Equation 1] is obtained. The drive command value of the drive motor 23 is adjusted so as to reach the target rotation position.

  In the automatic operation, the control unit of the pressure setting unit 3 determines the second rotation obtained when the drive command value of the drive motor 23 is adjusted so that the obtained rotation position of the second rotation axis J2 becomes the target rotation position. Feedback control is performed to adjust the drive command value of the drive motor 23 based on the deviation between the rotational position of the axis J2 and the target rotational position.

  That is, when the control unit obtains the rotation position of the second rotation axis J2 based on the detection information of the rotation angle detection sensor 26 and the rotation number detection sensor 27, the obtained rotation position of the second rotation axis J2 and the target rotation position. From the deviation, a target drive command value for the drive motor 23 corresponding to the deviation is obtained. Here, the relative relationship between the rotation position of the second rotation axis J2 and the drive command value of the drive motor 23 (for example, the drive command value of the drive motor 23 increases as the rotation position of the second rotation axis J2 increases). The control unit uses the relative relationship between the rotation position of the second rotation axis J2 and the drive command value of the drive motor 23 to determine the rotation position of the second rotation axis J2 and the target rotation position. A target drive command value of the drive motor 23 corresponding to the deviation is obtained. In this way, when the control unit obtains the target drive command value of the drive motor 23, the control unit gives the drive command value to the drive motor 23 so as to drive the drive motor 23 with the target drive command value.

  Thus, the control unit calculates the rotation position of the second rotation axis J2 based on the detection information of the rotation angle detection sensor 26 and the rotation speed detection sensor 27, and the rotation of the calculated second rotation axis J2. The control unit performs a series of operations such as a command operation for giving a drive command to the drive motor 23 with a target drive command value corresponding to the deviation between the position and the target rotational position. A series of operations are repeated every time the set cycle elapses, and by performing the above-described feedback control, the rotational position of the second rotary shaft J2 is set to the target rotational position smoothly and accurately, and the set pressure of the pressure control valve 2 is set. Is changed to the target set pressure.

(Failure judgment)
In the pressure control device according to the present invention, as described above, the control unit of the pressure setting unit 3 automatically changes and sets the set pressure of the pressure control valve 2 to the target set pressure by performing automatic operation. During this automatic operation, the control unit detects the detection information of the rotation speed detection sensor 27 (corresponding to the first rotation position detection sensor) and the detection information of the rotation angle detection sensor 26 (corresponding to the second rotation position detection sensor). And the drive command value of the drive motor 23 are compared, and a failure determination process for determining that any of the rotation speed detection sensor 27, the rotation angle detection sensor 26, and the drive motor 23 is a failure is performed. Thereby, the control part is comprised as a failure determination means.

Hereinafter, the failure determination process will be described based on the flowchart of FIG.
In the failure determination process, first, the control unit obtains the rotation position of the second rotation axis J2 based on the detection information of the rotation speed detection sensor 27, and determines the rotation position of the second rotation axis J2 based on the detection information of the rotation angle detection sensor 26. A rotational position calculation process is performed to obtain the rotational position and obtain the rotational position of the second rotary shaft J2 based on the drive command value of the drive motor 23 (step # 1).

  That is, in the rotational position calculation process, the control unit rotates the second rotational axis J2 from the rotational position of the third rotational axis J3 detected by the rotational speed detection sensor 27 using the deceleration rate of the reference deceleration mechanism S2. In addition to the number, the rotation angle of the second rotation axis J2 is also obtained. And a control part calculates | requires the rotation position of the 2nd rotating shaft J2 using said [Equation 1] from the calculated | required rotation speed and rotation angle of the 2nd rotating shaft J2.

  Further, the control unit determines that not only the rotation angle of the second rotation axis J2 but also the rotation position of the third rotation axis J3 is 360 degrees from the rotation position of the third rotation axis J3 detected by the rotation angle detection sensor 27. The number of rotations of the third rotation axis J3 is also obtained by integrating the number of times of passing. And a control part calculates | requires the rotation position of the 2nd rotating shaft J2 using said [Equation 1] from the calculated | required rotation speed and rotation angle of the 2nd rotating shaft J2.

  Further, as described above, the control unit uses the relative relationship between the rotation position of the second rotation axis J2 and the drive command value of the drive motor 23 in the automatic operation, so that the rotation position of the second rotation axis J2 becomes the target rotation position. Thus, the drive command value of the drive motor 23 is adjusted. Therefore, the controller uses the relative relationship between the rotation position of the second rotation axis J2 and the drive command value of the drive motor 23 to determine the rotation position of the second rotation axis J2 from the current drive command value of the drive motor 23. Ask. Here, the current drive command value of the drive motor 23 is obtained from the drive command value given to the drive motor 23.

  Hereinafter, in the rotational position calculation process, the rotational position of the second rotational axis J2 obtained based on the detection information of the rotational speed detection sensor 27 is referred to as the first rotational position, and is obtained based on the detection information of the rotational angle detection sensor 26. The rotation position of the second rotation axis J2 is referred to as a second rotation position, and the rotation position of the second rotation axis J2 obtained based on the drive command value of the drive motor 23 is referred to as a drive section rotation position.

  When the control unit obtains each of the first rotation position, the second rotation position, and the drive unit rotation position by executing the rotation position calculation process, the first rotation position, the second rotation position, and the drive unit use By comparing with the rotation position, it is determined whether any of the rotation angle detection sensor 26, the rotation speed detection sensor 27, and the drive motor 23 has failed (step # 2).

  Then, the control unit has all of the first rotation position, the second rotation position, and the drive unit rotation position being equal (deviation between the first rotation position and the second rotation position, the second rotation position and the drive unit use). The deviation between the rotational position and the first rotational position and the rotational position for the drive unit are all within an allowable range), the rotational speed detection sensor 27, the rotational angle detection sensor 26, and the drive motor. 23 is determined to be normal (steps # 3 and # 4).

In the control unit, the first rotation position is the same as the second rotation position (the deviation between the first rotation position and the second rotation position is within an allowable range), and the drive unit rotation position is different (for the drive unit). If the deviation between the rotational position and the first rotational position or the deviation between the rotational position for the drive unit and the second rotational position is outside the allowable range), it is determined that the drive motor 23 has failed (steps # 5 and # 6). ).
When the controller determines that the drive motor 23 has failed, the controller stops driving the drive motor 23 and stops the automatic operation (step # 7). When this automatic operation is stopped, the fact that the drive motor 23 is out of order is displayed on the display unit or the like, resulting in an abnormal stop.

In the control unit, the second rotational position is equal to the driving unit rotational position (the deviation between the driving unit rotational position and the second rotational position is within an allowable range), and the first rotational position is different (first If the deviation between the rotational position and the second rotational position or the deviation between the first rotational position and the driving portion rotational position is outside the allowable range), it is determined that the rotational speed detection sensor 27 is out of order (step # 8, # 9).
When the controller determines that the rotational speed detection sensor 27 is out of order, not only the rotational angle of the second rotational axis J2 but also the second rotational axis J2 is detected from the rotational position of the second rotational axis J2 detected by the rotational angle detection sensor 26. The number of rotations of the second rotation axis J2 is also obtained by integrating the number of times that the rotation position of the rotation axis J2 passes through the 360 degree position. The control unit obtains the rotation position of the second rotation axis J2 from the obtained rotation number and rotation angle of the second rotation axis J2 using the above [Equation 1], and rotates the obtained second rotation axis J2. A continuous operation for continuing the automatic operation for adjusting the drive command value of the drive motor 23 is performed so that the position becomes the target rotation position (step # 10).

  Here, in the continuous operation when it is determined that the rotation speed detection sensor 27 is out of order, the control unit performs the second operation from the rotation position of the third rotation axis J3 detected by the rotation angle detection sensor 26 as in the automatic operation. Since the rotation angle of the rotation axis J2 is obtained, the rotation angle of the second rotation axis J2 can be obtained without reducing the resolution. Therefore, in the continuous operation when it is determined that the rotation speed detection sensor 27 is out of order, the control unit performs the drive motor based on the obtained deviation between the rotation position of the second rotation axis J2 and the target rotation position, as in the automatic operation. By performing feedback control for adjusting the drive command value 23, the rotational position of the second rotary shaft J2 is set to the target rotational position smoothly and accurately.

In the control unit, the first rotation position is equal to the drive unit rotation position (the deviation between the drive unit rotation position and the first rotation position is within an allowable range), and the second rotation position is different (first If the deviation between the rotation position and the second rotation position or the deviation between the second rotation position and the drive unit rotation position is outside the allowable range), it is determined that the rotation angle detection sensor 26 has failed (step # 11). .
When the controller determines that the rotation angle detection sensor 26 is out of order, the control unit uses the deceleration rate of the reference deceleration mechanism S2 to determine the second rotation axis J3 detected from the rotation position of the third rotation axis J3. Not only the rotation speed of the rotation axis J2, but also the rotation angle of the second rotation axis J2 is obtained. The control unit obtains the rotation position of the second rotation axis J2 from the obtained rotation number and rotation angle of the second rotation axis J2 using the above [Equation 1], and rotates the obtained second rotation axis J2. A continuous operation for continuing the automatic operation for adjusting the drive command value of the drive motor 23 is performed so that the position becomes the target rotation position (step # 12).

  Here, in the continuous operation when it is determined that the rotation angle detection sensor 26 has failed, unlike the automatic operation, the control unit performs the second operation from the rotation position of the third rotation axis J3 detected by the rotation number detection sensor 27. Since the rotation angle of the rotation axis J2 is obtained, the resolution is somewhat reduced. Therefore, in the continuous operation when it is determined that the rotation angle detection sensor 26 is out of order, unlike the automatic operation, the control unit performs a predetermined drive until the calculated rotation position of the second rotation axis J2 reaches the target rotation position. In this state, sequence control for adjusting the drive command value of the drive motor 23 is performed. That is, as a sequence control, the control unit continues to drive the drive motor 23 at a predetermined set rotational speed until the calculated rotational position of the second rotation axis J2 reaches the target rotational position (predetermined in advance). The drive command value of the drive motor 23 is adjusted.

  As described above, the control unit performs the failure determination process by performing the series of operations shown in FIG. 6, but the control unit performs the drive motor every time the set cycle for failure determination elapses during automatic operation. Each time a drive command is given to the controller 23, the failure determination process is repeated. As a result, the failure determination process can be repeatedly performed during automatic operation, and it is accurately determined that any one of the rotation angle detection sensor 26, the rotation speed detection sensor 27, and the drive motor 23 is in failure. In addition, when it is determined that there is a failure, it is possible to take an appropriate measure suitable for the failure and improve the reliability of the apparatus.

As described above, the pressure control device can automatically change and set the set pressure of the pressure control valve 2 to the target set pressure by the automatic operation of the control unit. The setting pressure of the pressure control valve 2 can be changed and set.
Although not shown, the pressure setting unit 3 transmits the rotational driving force of the driving motor 23 to the pressure adjusting screw 10 by meshing the first gear F1 on the pressure adjusting screw 10 side with the driving gear 24 on the driving motor 23 side. A clutch mechanism is provided that can be switched between a state where the engagement of the first gear F1 and the drive gear 24 is released, and a state where the transmission of the rotational driving force of the drive motor 23 to the pressure adjusting screw 10 is interrupted.

  Thus, by providing the clutch mechanism, when changing the setting pressure of the pressure control valve 2 to the target setting pressure and performing the automatic operation by the control unit, the clutch mechanism is switched to the transmission state and the rotating shaft is connected. When the first rotary shaft J1 and the second rotary shaft J2 are rotated by manual operation of the manual operation member 20 (see FIG. 3) provided in the section 16, the clutch mechanism is switched to the disconnected state.

  In order to change and set the set pressure of the pressure control valve 2 by manual operation by an operator, as shown in FIG. 3, the rotary shaft connecting portion 16 is provided with a manual operation member 20, which is manually operated by the operator. Thus, when the manual operation member 20 is rotated, the first rotation axis J1 and the second rotation axis J2 are rotated in accordance with the rotation operation. Thereby, after switching the clutch mechanism to the disengaged state, the operator rotates the manual operation member 20 to rotate the first rotating shaft J1 and the second rotating shaft J2 to move the spring receiving portion 13 up and down. Then, the set pressure of the pressure control valve 2 is changed and set by adjusting the spring load applied to the pressure setting spring 9. In this way, the pressure setting unit 3 is configured to be able to change and set the set pressure of the pressure control valve 2 by an operator's manual operation.

  Here, in the pressure control device according to the present invention, as described above, when the control unit performs automatic operation, the control unit of the pressure setting unit 3 determines the second rotation axis J2 from the detection information of the rotation angle detection sensor 26. The rotation angle is obtained, the rotation number of the second rotation axis J2 is obtained from the detection information of the rotation number detection sensor 27, and the above [Equation 1] is obtained from the obtained rotation angle and rotation number of the second rotation axis J2. The rotation position P3 of the second rotation axis J2 is used to determine the rotation position of the second rotation axis J2 even when the set pressure of the pressure control valve 2 is changed and set manually by the operator. Can do.

  That is, when the set pressure of the pressure control valve 2 is changed and set by the manual operation of the operator, the pressure control valve is operated by rotating the manual operation member 20 by the operator after switching the clutch mechanism to the disconnected state. Change the setting pressure of 2. At this time, since the second rotation axis J2 is rotated by the rotation operation of the manual operation member 20, the third rotation axis J3 is also rotated by the reference speed reduction mechanism S2 along with the rotation of the second rotation axis J2. Thereby, the control unit of the pressure setting unit 3 can obtain the rotation angle of the second rotation axis J2 within 360 degrees from the detection information of the rotation angle detection sensor 26, and the first detection information of the rotation number detection sensor 27. The number of rotations of the two rotation axis J2 can be obtained. Therefore, the control unit of the pressure control unit 3 obtains the rotational position P3 of the second rotational axis J2 from the obtained rotational angle and rotational speed of the second rotational axis J2 using the above [Equation 1]. Can do. Therefore, for example, the control unit of the pressure control unit 3 displays the obtained rotation position of the second rotation axis J2 on the display unit or the like, so that the operator can recognize the rotation position of the second rotation axis J2 while The set pressure of the control valve 2 can be changed and set, and the operator can easily change and set the set pressure of the pressure control valve 2 to a desired set pressure.

[Second Embodiment]
The second embodiment is another embodiment of the configuration of the second rotational position detection sensor in the first embodiment. Hereinafter, the configuration of the second rotational position detection sensor will be described, but the other configuration is the same as that of the first embodiment, and thus the description thereof is omitted.

In the first embodiment, the rotation angle detection sensor 25 as the second rotation position detection sensor is attached to the second rotation axis J2 (corresponding to the output rotation axis), and the rotation angle of the second rotation axis J2 is detected as the rotation angle. The sensor 25 detects it as it is.
In the second embodiment, although not shown, a reduction speed rate reduction mechanism is provided separately from the reference reduction mechanism S2 to reduce the rotation of the second rotation shaft J2 and transmit it to the second reduction rotation shaft. The deceleration rate of the deceleration mechanism for low deceleration rate is set to a deceleration rate lower than that of the reference deceleration mechanism S2. Then, a rotation position detection sensor as a second rotation position detection sensor is attached to the second reduction rotation axis, and the rotation position of the second reduction rotation axis is detected by the second rotation position detection sensor.

  As a result, the rotational position of the second reduction rotation shaft detected by the second rotation position detection sensor is the rotation speed of the second rotation shaft J2 (corresponding to the rotation output shaft) reduced by the reduction speed rate reduction mechanism. Therefore, the control unit of the pressure setting unit uses the deceleration rate of the reduction mechanism for the reduced speed rate to rotate the second rotation axis J2 from the rotation position of the second deceleration rotation axis detected by the second rotation position detection sensor. The angle can be determined. Thus, although the rotation of the second rotating shaft J2 is decelerated, the second decelerating rotating shaft is decelerated by the decelerating speed reduction mechanism having a lower decelerating rate than the reference decelerating mechanism, and the second rotating shaft J2 Since the rotation is transmitted, even if the rotation angle of the second rotation axis J2 is obtained by detecting the rotation position of the second reduction rotation axis by the second rotation position detection sensor, the resolution is not greatly reduced. The rotation angle of the two rotation axis J2 can be detected.

  The present invention is provided with a pressure control valve that adjusts the secondary pressure of the fluid flow path to a set pressure, and a pressure setting unit that changes and sets the set pressure of the pressure control valve, and the pressure setting unit includes a spring A pressure setting spring capable of changing and setting the set pressure by adjusting a load, a rotation output shaft capable of rotating a pressure adjusting screw capable of adjusting a spring load applied to the pressure setting spring, and a drive for rotating the rotation output shaft Various pressure controls that can determine whether or not the rotational position detection sensor or the drive unit is out of order and can take appropriate measures against the failure. Applicable to the device.

DESCRIPTION OF SYMBOLS 1 Fluid flow path 2 Pressure control valve 3 Pressure setting part 9 Pressure setting spring 10 Pressure adjusting screw 23 Drive part (drive motor)
26 Second rotational position detection sensor (rotation angle detection sensor)
27 First rotational position detection sensor (rotational speed detection sensor)
J2 Rotation output shaft (second rotation shaft)
J3 First reduction rotation axis (third rotation axis)
S2 Reference deceleration mechanism

Claims (6)

A pressure control valve for adjusting the secondary pressure of the fluid flow path to a set pressure and a pressure setting unit for changing and setting the set pressure of the pressure control valve are provided, and the pressure setting unit is configured by adjusting a spring load. A pressure setting spring capable of changing and setting the set pressure; a rotation output shaft capable of rotating a pressure adjusting screw capable of adjusting a spring load applied to the pressure setting spring; and a drive unit for rotating the rotation output shaft. A pressure control device comprising:
A first rotation position detection sensor for detecting a rotation position of the first reduction rotation shaft transmitted by the rotation of the rotation output shaft being decelerated by a reference reduction mechanism;
A rotation position of the rotation output shaft or a rotation position of the second reduction rotation shaft that is transmitted after the rotation of the rotation output shaft is decelerated by the reduction mechanism for the reduction speed rate whose deceleration rate is lower than that of the reference deceleration mechanism is detected. A two-rotation position detection sensor;
The number of rotations of the rotation output shaft is obtained based on the detection information of the first rotation position detection sensor, and the rotation angle of the rotation output shaft is obtained based on the detection information of the second rotation position detection sensor. Rotation position calculating means for obtaining the rotation position of the rotation output shaft from the rotation speed and rotation angle of the rotation output shaft;
A control unit that performs an automatic operation for adjusting a drive command value of the drive unit such that the rotation position of the rotation output shaft obtained by the rotation position calculation unit becomes a target rotation position;
During the automatic operation by the control unit, the detection information of the first rotation position detection sensor, the detection information of the second rotation position detection sensor, and the drive command value of the drive unit are compared, and the first rotation position A pressure control apparatus comprising: a detection sensor; the second rotational position detection sensor; and a failure determination unit that determines that any of the drive units is defective.   The failure determination unit is configured to rotate the rotation output shaft obtained based on the rotation position of the rotation output shaft obtained based on the detection information of the first rotation position detection sensor and the detection information of the second rotation position detection sensor. The pressure control device according to claim 1, wherein the position is equal and the drive unit is determined to be faulty when the rotation position of the rotation output shaft obtained based on the drive command value of the drive unit is different.   The pressure control device according to claim 2, wherein when the failure determination unit determines that the drive unit has failed, the control unit stops driving the drive unit and stops the automatic operation.   The failure determination means includes a rotation position of the rotation output shaft obtained based on detection information of the first rotation position detection sensor and a rotation position of the rotation output shaft obtained based on a drive command value of the drive unit. If the rotation position of the rotation output shaft obtained based on the detection information of the second rotation position detection sensor is different, it is determined that the second rotation position detection sensor is faulty, and the second rotation position The rotation position of the rotation output shaft obtained based on the detection information of the detection sensor is equivalent to the rotation position of the rotation output shaft obtained based on the drive command value of the drive unit, and the first rotation position detection sensor The pressure control device according to any one of claims 1 to 3, wherein when the rotational position of the rotational output shaft obtained based on the detected information is different, it is determined that the first rotational position detection sensor has failed.   When the failure determination unit determines that the first rotation position detection sensor or the second rotation position detection sensor has failed, the rotation position calculation unit is configured to determine whether the failure has occurred. Based on the detection information of the rotational position detection sensor, it is configured to obtain both the rotational speed of the rotational output shaft and the rotational angle of the rotational output shaft to determine the rotational position of the rotational output shaft, The pressure control device according to claim 4, wherein when the failure determination unit determines that the first rotational position detection sensor or the second rotational position detection sensor is defective, continuous operation for continuing the automatic operation is performed. In the automatic operation, the control unit performs feedback control for adjusting a drive command value of the drive unit based on a deviation between the rotation position of the rotation output shaft obtained by the rotation position calculation unit and the target rotation position. Configured to do and
In the continuous operation when the failure determination means determines that the first rotational position detection sensor is failed, the control unit performs the feedback control,
In the continuous operation when the failure determination means determines that the second rotation position detection sensor is failed, the rotation position of the rotation output shaft obtained by the rotation position calculation means by the control unit is the target rotation position. The pressure control device according to claim 5, wherein sequence control is performed to adjust a drive command value of the drive unit in a predetermined drive state until

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