KR20240023795A - Pressure control apparatus - Google Patents

Abstract

The present invention relates to a pressure control device, which controls the size of a pump, a positive pressure line connected to the discharge port of the pump, a negative pressure line connected to the inlet of the pump, and a positive pressure line connected to the positive pressure line and output through the positive pressure line. It is connected to a positive pressure control unit and a negative pressure line, and includes a negative pressure control unit that adjusts the size of the negative pressure output through the negative pressure line.

Description

PRESSURE CONTROL APPARATUS}

The present invention relates to a pressure control device, and more specifically, to a pressure control device that can generate positive and negative pressures necessary for the operation of an actuator with only one pneumatic pump.

A pressure control system utilizing a conventional pneumatic pump generates positive or negative pressure using only either the discharge or suction of the pump. Therefore, to utilize positive and negative pressure simultaneously, at least two pneumatic pumps are required, which increases the volume and weight of the required system. On the other hand, if you want to use only a single pneumatic pump, positive pressure and negative pressure are a combined system, and changes in one affect the other, making accurate control difficult. In addition, in order to instantly generate a large positive pressure using only a pneumatic pump, a large-sized, high-flow pneumatic pump used only for positive pressure is required, which also causes the volume and weight of the required system to increase.

The background technology of the present invention is disclosed in Korean Patent Publication No. 10-2016-0077524 (published on July 4, 2016, title of the invention: Inverter-embedded water pump system that simultaneously controls flow rate and pressure).

The purpose of the present invention is to provide a pressure control device that can generate positive and negative pressures necessary for the operation of an actuator with only one pneumatic pump.

In order to solve the above problems, the pressure control device according to the present invention includes: a pump; A positive pressure line connected to the discharge port of the pump; A negative pressure line connected to the inlet of the pump; a positive pressure control unit connected to the positive pressure line and controlling the size of positive pressure output through the positive pressure line; And a sound pressure control unit connected to the sound pressure line and adjusting the size of the sound pressure output through the sound pressure line.

In addition, the positive pressure control unit includes: a positive pressure valve connected to the positive pressure line; and a positive pressure processor that controls the operation of the positive pressure valve.

Additionally, the positive pressure valve is disposed between the positive pressure line and the external atmosphere.

Additionally, the positive pressure valve is a proportional control valve.

In addition, the positive pressure processor includes: a positive pressure controller that outputs a first positive pressure signal based on the difference between the target positive pressure and the positive pressure output through the positive pressure line; a positive pressure disturbance observation unit that estimates disturbance generated according to a change in sound pressure output from the negative pressure line; and a positive pressure disturbance removal unit that removes the disturbance estimated from the positive pressure disturbance observation unit from the first positive pressure signal output from the positive pressure controller and outputs a second positive pressure signal.

In addition, the negative pressure control unit includes a negative pressure valve connected to the negative pressure line; And a negative pressure processor that controls the operation of the negative pressure valve.

Additionally, the negative pressure valve is disposed between the negative pressure line and the external atmosphere.

Additionally, the negative pressure valve is a proportional control valve.

In addition, the sound pressure processor includes a sound pressure controller that outputs a first sound pressure signal based on the difference between the target sound pressure and the sound pressure output through the sound pressure line; a negative pressure disturbance observation unit that estimates disturbance generated according to changes in positive pressure output from the positive pressure line; And a sound pressure disturbance compensator for outputting a second sound pressure signal by removing the disturbance estimated from the sound pressure disturbance observation unit from the first sound pressure signal output from the sound pressure controller.

In addition, it further includes a positive pressure boosting unit that amplifies the magnitude of the positive pressure output through the positive pressure line.

In addition, the positive pressure boosting unit includes a pressure storage tank for storing compressed air; A boosting valve connected between the positive pressure line and the pressure storage tank; and a boosting processor that controls the operation of the boosting valve based on the target positive pressure and the positive pressure output through the positive pressure line.

Additionally, the boosting processor opens the boosting valve when the positive pressure output through the positive pressure line is less than a set ratio compared to the target positive pressure.

The pressure control device according to the present invention can simultaneously control the positive and negative pressures required for the actuator with only a single pump, thereby reducing the volume and weight of the entire system.

In addition, the pressure control device according to the present invention can secure more accurate pressure tracking performance by removing the influence of disturbances on the positive pressure system and the negative pressure system, respectively, by the positive pressure processor and the negative pressure processor.

In addition, the pressure control device according to the present invention can achieve the target positive pressure by using the positive pressure boosting unit even when a positive pressure that is difficult to meet with a single pump is required.

1 is a schematic diagram schematically showing the configuration of a pressure control device according to an embodiment of the present invention.
Figure 2 is a control diagram schematically showing the configuration of a positive pressure control unit and a negative pressure control unit according to an embodiment of the present invention.
Figure 3 is a graph showing the results of a pressure tracking experiment of a positive pressure processor according to an embodiment of the present invention.
Figure 4 is a graph showing the results of a pressure tracking experiment of a negative pressure processor according to an embodiment of the present invention.
Figure 5 is a flowchart schematically showing the operating process of the boosting processor according to an embodiment of the present invention.
Figures 6 and 7 are graphs showing experimental results depending on the presence or absence of a positive pressure boosting unit according to an embodiment of the present invention.

Hereinafter, an embodiment of a pressure control device according to the present invention will be described with reference to the attached drawings.

In this process, the thickness of lines or sizes of components shown in the drawing may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

In addition, in this specification, when a part is said to be "connected (or connected)" to another part, this does not only mean that it is "directly connected (or connected)" but also "connected (or connected)" with another member in between. Also includes cases where there is an “indirect connection (or connection).” In this specification, when a part is said to “include (or include)” a certain component, this does not exclude other components, unless specifically stated to the contrary, but rather “includes (or includes)” other components. It means you can do it.

In this specification, a “unit” or “unit” performs at least one function or operation, and may be implemented as hardware or software, or as a combination of hardware and software. Additionally, a plurality of “units” or a plurality of “units” may be integrated into at least one module and implemented with at least one processor, except for “units” or “units” that need to be implemented with specific hardware.

Additionally, the same reference numerals may refer to the same components throughout this specification. Even if the same or similar reference signs are not mentioned or explained in a particular drawing, the numbers may be explained based on other drawings. Additionally, even if there are parts that are not indicated by reference signs in a specific drawing, those parts can be explained based on other drawings. In addition, the number, shape, size, and relative differences in size of detailed components included in the drawings of the present application are set for convenience of understanding, do not limit the embodiments, and may be implemented in various forms.

1 is a schematic diagram schematically showing the configuration of a pressure control device according to an embodiment of the present invention.

Referring to Figure 1, the pressure control device 1 according to an embodiment of the present invention includes a pump 100, a positive pressure line 200, a negative pressure line 300, a positive pressure control unit 400, and a negative pressure control unit 500. ), including a positive pressure boosting unit 600.

The pump 100 receives power from the outside and generates pressure. The pump 100 according to an embodiment of the present invention may be exemplified by various types of pneumatic pumps that suck air through an intake port, compress the sucked air, and discharge it through a discharge port. The rated torque of the pump 100 can be set to DC 12V, rated output to 36W, maximum negative pressure to -80kPa, and maximum positive pressure to 390kPa.

The positive pressure line 200 is connected to the discharge port of the pump 100 and outputs positive pressure in conjunction with the operation of the pump 100. The positive pressure line 200 according to an embodiment of the present invention may be formed to have the shape of a tube with an empty interior. One side of the positive pressure line 200 is connected to the discharge port of the pump 100, and the other side is connected to various types of actuators (not shown) such as motors and cylinders. Positive pressure is formed inside the positive pressure line 200 as air discharged from the discharge port of the pump 100 flows into the positive pressure line 200. In this case, the magnitude of positive pressure formed inside the positive pressure line 200 may be greater than atmospheric pressure. The positive pressure formed inside the positive pressure line 200 may be transmitted to the actuator through the other side of the positive pressure line 200.

The positive pressure line 200 includes a first pressure sensor 210 that measures the magnitude of the positive pressure output through the positive pressure line 200 and a flow sensor 220 that measures the flow rate of the positive pressure output through the positive pressure line 200. Can be installed additionally. Additionally, a check valve 230 may be additionally installed in the positive pressure line 200 to prevent backflow of air flowing along the positive pressure line 200.

The negative pressure line 300 is connected to the suction port of the pump 100 and outputs negative pressure in conjunction with the operation of the pump 100. The negative pressure line 300 according to an embodiment of the present invention may be formed to have the shape of a tube with an empty interior. One side of the negative pressure line 300 is connected to the inlet of the pump 100, and the other side is connected to various types of actuators (not shown) such as motors and cylinders. Negative pressure is formed inside the negative pressure line 300 as air flowing therein is sucked into the suction port of the pump 100. In this case, the magnitude of the negative pressure formed inside the positive pressure line 200 may be smaller than atmospheric pressure. The sound pressure formed inside the sound pressure line 300 may be transmitted to the actuator through the other side of the sound pressure line 300.

A second pressure sensor 310 that measures the amount of sound pressure output through the sound pressure line 300 may be additionally installed in the sound pressure line 300.

The positive pressure control unit 400 is connected to the positive pressure line 200 and adjusts the size of the positive pressure output through the positive pressure line 200.

The positive pressure control unit 400 according to an embodiment of the present invention includes a positive pressure valve 410 and a positive pressure processor 420.

The positive pressure valve 410 is connected to the positive pressure line 200 and adjusts the size of the positive pressure formed inside the positive pressure line 200. The positive pressure valve 410 according to an embodiment of the present invention may be exemplified as an electronic proportional control valve whose opening and closing degree is adjusted in proportion to the magnitude of voltage or current. The positive pressure valve 410 may be disposed between the positive pressure line 200 and the external atmosphere. That is, the positive pressure valve 410 may be installed so that one side is connected to the positive pressure line 200 and the other side is in communication with the external atmosphere. Accordingly, the positive pressure valve 410 can adjust the size of the positive pressure output through the positive pressure line 200 by controlling the amount of air discharged from the positive pressure line 200 to the external atmosphere through the opening and closing operation.

The positive pressure processor 420 is connected to the positive pressure valve 410 and generally controls the opening and closing operation of the positive pressure valve 410. The positive pressure processor 420 may be implemented as an electronic control unit (ECU), a central processing unit (CPU), a processor, or a system on chip (SoC), and may be implemented using an operating system or application. By operating it, a plurality of hardware or software components can be controlled, and various data processing and calculations can be performed. The positive pressure processor 420 may be configured to execute at least one command stored in a memory and store execution result data in the memory.

Figure 2 is a control diagram schematically showing the configuration of a positive pressure control unit and a negative pressure control unit according to an embodiment of the present invention.

Referring to FIG. 2, the positive pressure processor 420 according to an embodiment of the present invention includes a positive pressure controller 421, a positive pressure disturbance observation unit 422, and a positive pressure disturbance removal unit 423.

The positive pressure controller 421 generates a first positive pressure signal (u1) based on the difference between the target positive pressure input by the user and the positive pressure (P1) output through the positive pressure line 200 measured by the first pressure sensor 210. ) is output. The positive pressure controller 421 according to an embodiment of the present invention performs control proportional to the size of the error value (ERROR) in the current state according to proportional control, and controls the error value (ERROR) in the steady-state according to integral control. It can be exemplified as a PID (Proportional-Integral-Derivative) controller that performs control to reduce overshoot by preventing sudden changes according to differential control.

The positive pressure disturbance observation unit 422 estimates the disturbance generated according to changes in the negative pressure P2 output from the negative pressure line 300. More specifically, the positive pressure (P1) output through the positive pressure line 200 and the negative pressure (P2) output from the negative pressure line 300 are generated by the same pump 100 and thus output from the negative pressure line 300. Changes in pressure, flow rate, etc. of the negative pressure (P2) affect the positive pressure (P1) output through the positive pressure line 200, and this influence acts as a disturbance from the perspective of the system that outputs the positive pressure (P1). Here, the system that outputs positive pressure (P1) may be exemplified as a system defined by the pump 100, the positive pressure line 200, and the positive pressure valve 410. The positive pressure disturbance observation unit 422 detects the disturbance included in the first positive pressure signal u1 output from the positive pressure controller 421 due to changes in the pressure and flow rate of the negative pressure P2 output from the negative pressure line 300. It functions as a configuration for estimating signals.

The positive pressure disturbance observation unit 422 according to an embodiment of the present invention obtains the reverse transfer function (G1 ^-1 (s)) from the transfer function (G1 (s)) of the system that outputs the positive pressure (P1), and vice versa. Positive pressure (P1) output through the positive pressure line 200 is input to the transfer function (G1 ^-1 (s)). Here, the transfer function (G1(s)) of the system that outputs positive pressure (P1) is a function value determined by the pump 100, positive pressure line 200, positive pressure valve 410, and various state variables, and is identified by system identification ( This can be exemplified by a pre-stored function value set through system identification, etc.

The positive pressure disturbance observation unit 422 inputs the positive pressure (P1) output through the positive pressure line 200 into the reverse transfer function (G1 ^-1 (s)) so that the first positive pressure signal (u1) and the disturbance component (D1) are After extracting the combined signal, the first positive pressure signal (u1) can be subtracted from it to obtain the disturbance component (D1).

In this case, the positive pressure disturbance observation unit 422 determines that the reverse transfer function (G1 ^-1 (s)) of the system that outputs positive pressure (P1) through the positive pressure line 200 is a value in which the order of the numerator is greater than the order of the denominator. As we have it, we can apply a Q-filter (Q2) to convert it into a feasible function form. This Q-filter (Q2) may be exemplified by various types of low-pass filters. The positive pressure disturbance observation unit 422 may input the signal from which the first positive pressure signal (u1) is subtracted to the Q-filter (Q2) and finally output the positive pressure disturbance signal (D'1).

The positive pressure disturbance removal unit 423 removes the disturbance estimated from the positive pressure disturbance observation unit from the first positive pressure signal (u1) output from the positive pressure controller 421 and outputs the second positive pressure signal (u'1). The positive pressure disturbance removal unit 423 according to an embodiment of the present invention divides the first positive pressure signal (u1) output from the positive pressure controller 421 into the positive pressure disturbance signal (D'1) output from the positive pressure disturbance observation unit 422. The second positive pressure signal (u'1) can be output by performing the difference calculation. The positive pressure disturbance removal unit 423 transmits the output second positive pressure signal (u'1) to the positive pressure valve 410 to operate the positive pressure valve 410.

Figure 3 is a graph showing the results of a pressure tracking experiment of a positive pressure processor according to an embodiment of the present invention.

Referring to FIG. 3, the pressure tracking performance of the positive pressure processor 420 for the target pressure was evaluated in cases with and without the positive pressure disturbance observation unit 422 and the positive pressure disturbance removal unit 423. The target pressure was set as a sine wave with an offset of 50 kPa, an amplitude of 5 kPa, and a period of 4 seconds. As a result of the experiment, the case where there is no disturbance compensation by the positive pressure disturbance observation unit 422 and the positive pressure disturbance removal unit 423 is compared to the case where there is disturbance compensation by the positive pressure disturbance observation unit 422 and the positive pressure disturbance removal unit 423. It was confirmed that the error compared to the target pressure was quite large at the low pressure point.

The sound pressure control unit 500 is connected to the sound pressure line 300 and adjusts the size of the sound pressure output through the sound pressure line 300.

The negative pressure control unit 500 according to an embodiment of the present invention includes a negative pressure valve 510 and a negative pressure processor 520.

The negative pressure valve 510 is connected to the negative pressure line 300 and adjusts the size of the negative pressure formed inside the negative pressure line 300. The negative pressure valve 510 according to an embodiment of the present invention may be exemplified as an electronic proportional control valve whose opening and closing degree is adjusted in proportion to the magnitude of voltage or current. The negative pressure valve 510 may be disposed between the negative pressure line 300 and the external atmosphere. That is, the negative pressure valve 510 may be installed so that one side is connected to the negative pressure line 300 and the other side is in communication with the external atmosphere. Accordingly, the negative pressure valve 510 can adjust the size of the negative pressure output through the negative pressure line 300 by controlling the amount of air sucked from the external atmosphere into the negative pressure line 300 through the opening and closing operation.

The negative pressure processor 520 is connected to the negative pressure valve 510 and generally controls the opening and closing operation of the negative pressure valve 510. The negative pressure processor 520 may be implemented as an electronic control unit (ECU), a central processing unit (CPU), a processor, or a system on chip (SoC), and may be implemented using an operating system or application. By operating it, a plurality of hardware or software components can be controlled, and various data processing and calculations can be performed. The negative pressure processor 520 may be configured to execute at least one command stored in the memory and store the execution result data in the memory.

The sound pressure processor 520 according to an embodiment of the present invention includes a sound pressure controller 521, a sound pressure disturbance observation unit 522, and a sound pressure disturbance removal unit 523.

The sound pressure controller 521 generates a first sound pressure signal (u2) based on the difference between the target sound pressure input by the user and the sound pressure (P2) output through the sound pressure line 300 measured by the first pressure sensor 210. ) is output. The sound pressure controller 521 according to an embodiment of the present invention performs control proportional to the size of the error value (ERROR) in the current state according to proportional control, and controls the error in the steady-state according to integral control. It can be exemplified as a PID (Proportional-Integral-Derivative) controller that performs control to reduce overshoot by preventing sudden changes according to differential control.

The negative pressure disturbance observation unit 522 estimates the disturbance generated according to the change in positive pressure (P1) output from the positive pressure line 200. More specifically, the positive pressure (P1) output through the positive pressure line 200 and the negative pressure (P2) output from the negative pressure line 300 are generated by the same pump 100 and thus output from the positive pressure line 200. Changes in pressure, flow rate, etc. of the positive pressure (P1) affect the negative pressure (P2) output through the negative pressure line 300, and this influence acts as a disturbance from the perspective of the system that outputs the negative pressure (P2). Here, the system that outputs the negative pressure (P2) may be exemplified as a system defined by the pump 100, the negative pressure line 300, and the negative pressure valve 510. The negative pressure disturbance observation unit 522 detects the disturbance included in the first negative pressure signal (u2) output from the negative pressure controller 521 due to changes in pressure, flow rate, etc. of the positive pressure (P1) output from the positive pressure line 200. It functions as a configuration for estimating signals.

The sound pressure disturbance observation unit 522 according to an embodiment of the present invention obtains the reverse transfer function (G2 ^-1 (s)) from the transfer function (G2 (s)) of the system that outputs the sound pressure (P2), and vice versa. The sound pressure (P2) output through the sound pressure line 300 is applied to the transfer function (G2 ^-1 (s)). Here, the transfer function (G2(s)) of the system that outputs the negative pressure (P2) is a function value determined by the pump 100, the negative pressure line 300, the negative pressure valve 510, and various state variables, and is identified by the system ( This can be exemplified by a pre-stored function value set through system identification, etc.

The sound pressure disturbance observation unit 522 applies the sound pressure (P2) output through the sound pressure line 300 to the reverse transfer function (G2 ^-1 (s)) so that the first sound pressure signal (u2) and the disturbance component (D2) are After extracting the combined signal, the disturbance component (D2) can be obtained by subtracting the first sound pressure signal (u2) from it.

In this case, the sound pressure disturbance observation unit 522 determines that the reverse transfer function (G2 ^-1 (s)) of the system that outputs the sound pressure (P2) through the sound pressure line 300 is a value in which the order of the numerator is greater than the order of the denominator. As we have it, we can apply a Q-filter (Q2) to convert it into a feasible function form. This Q-filter (Q2) may be exemplified by various types of low-pass filters. The sound pressure disturbance observation unit 522 may input the signal from which the first sound pressure signal (u2) is subtracted to the Q-filter (Q2) and finally output the sound pressure disturbance signal (D'2).

The sound pressure disturbance removal unit 523 removes the disturbance estimated from the sound pressure disturbance observation unit from the first sound pressure signal (u2) output from the sound pressure controller 521 and outputs a second sound pressure signal (u'2). The sound pressure disturbance removal unit 523 according to an embodiment of the present invention changes the sound pressure disturbance signal (D'2) output from the sound pressure disturbance observation unit 522 from the first sound pressure signal (u2) output from the sound pressure controller 521. The second sound pressure signal (u'2) can be output by performing a difference calculation. The negative pressure disturbance removal unit 523 transmits the output second negative pressure signal (u'2) to the negative pressure valve 510 to operate the negative pressure valve 510.

Figure 4 is a graph showing the results of a pressure tracking experiment of a negative pressure processor according to an embodiment of the present invention.

Referring to FIG. 4, the pressure tracking performance of the sound pressure processor 520 for the target pressure was evaluated in cases with and without the sound pressure disturbance observation unit 522 and the sound pressure disturbance removal unit 523. The target pressure was set to a sine wave with -20 kPa, amplitude of 2 kPa, and period of 5 seconds. As a result of the experiment, the case where there is no disturbance compensation by the sound pressure disturbance observation unit 522 and the sound pressure disturbance removal unit 523 is compared to the case where there is disturbance compensation by the sound pressure disturbance observation unit 522 and the sound pressure disturbance removal unit 523. It was confirmed that the error compared to the target pressure was quite large at most points.

The positive pressure and negative pressure line amplifies the size of the positive pressure (P1) output through the positive pressure line (200). That is, the positive pressure and negative pressure line functions as a component for supplying additional positive pressure to the positive pressure line 200 separately from the pump 100 when a large positive pressure is momentarily required.

The positive pressure and negative pressure line according to an embodiment of the present invention includes a pressure storage tank 610, a boosting valve 620, and a boosting processor 630.

The pressure storage tank 610 stores compressed air. The pressure storage tank 610 according to an embodiment of the present invention may be exemplified by various types of storage containers capable of storing air at high pressure. The pressure storage tank 610 can store air at a pressure greater than the maximum positive pressure that can be formed in the positive pressure line 200 by driving the pump 100.

The boosting valve 620 is connected between the positive pressure line 200 and the pressure storage tank 610 and adjusts the amount of pressure transmitted from the pressure storage tank 610 to the positive pressure line 200. The boosting valve 620 according to an embodiment of the present invention may be exemplified as an electronic proportional control valve or an on-off valve whose opening and closing degree is adjusted in proportion to the magnitude of voltage or current. One side of the boosting valve 620 is connected to the positive pressure line 200, and the other side is connected to the pressure storage tank 610. When opened, the boosting valve 620 can amplify the size of the positive pressure output through the positive pressure line 200 by allowing air stored in the pressure storage tank 610 to flow into the positive pressure line 200.

The boosting processor 630 controls the operation of the boosting valve 620 based on the target positive pressure and the positive pressure output through the positive pressure line. The boosting processor 630 may be implemented as an electronic control unit (ECU), a central processing unit (CPU), a processor, or a system on chip (SoC), and may run an operating system or application. By operating it, a plurality of hardware or software components can be controlled, and various data processing and calculations can be performed. The boosting processor 630 may be configured to execute at least one command stored in memory and store execution result data in memory.

Figure 5 is a flowchart schematically showing the operating process of the boosting processor according to an embodiment of the present invention.

Referring to Figure 5, first, the target positive pressure is input to the boosting processor 630 (S100).

Thereafter, the boosting processor 630 determines whether the positive pressure (P1) output through the positive pressure line 200 measured by the first pressure sensor 210 is greater than a set ratio compared to the input target positive pressure (S110). Here, the setting ratio can be set to about 0.8 times.

The boosting processor 630 opens the boosting valve 620 when the positive pressure (P1) output through the positive pressure line 200 is less than the set ratio compared to the target positive pressure (S120).

As the boosting valve 620 is opened, the air stored in the pressure storage tank 610 flows into the positive pressure line 200 and amplifies the size of the positive pressure (P1) output through the positive pressure line 200.

Thereafter, the boosting processor 630 closes the boosting valve 620 when the positive pressure (P1) output through the positive pressure line 200 is greater than a set ratio compared to the target positive pressure (S130).

Figures 6 and 7 are graphs showing experimental results depending on the presence or absence of a positive pressure boosting unit according to an embodiment of the present invention.

Referring to FIG. 6, when a step input of 100 kPa was given, the case where the positive pressure and negative pressure line operated was compared with the case where the negative pressure line was not operated. As a result of the experiment, it was confirmed that when the positive pressure and negative pressure line operates, the time to reach the target positive pressure is shortened by about 1.15 seconds compared to the case where positive pressure is generated only with the pump 100.

Referring to FIG. 7, it was confirmed that when the positive pressure and negative pressure line is operated, the flow rate is instantly increased by more than two times compared to the case where positive pressure is generated only with the pump 100.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will recognize that various modifications and other equivalent embodiments are possible therefrom. You will understand.

Therefore, the scope of technical protection of the present invention should be determined by the scope of the patent claims below.

1: pressure control device 100: pump
200: positive pressure line 210: first pressure sensor
220: flow sensor 230: check valve
300: Negative pressure line 400: Positive pressure control unit
410: positive pressure valve 420: positive pressure processor
421: Positive pressure controller 422: Positive pressure disturbance observation unit
423: Positive pressure disturbance removal unit 500: Negative pressure control unit
510: negative pressure valve 520: negative pressure processor
521: Negative pressure controller 522: Negative pressure disturbance observation unit
523: Negative pressure disturbance removal unit 600: Positive pressure boosting unit
610: Pressure storage tank 620: Boosting valve
630: Boosting processor

Claims (12)

Pump;
A positive pressure line connected to the discharge port of the pump;
A negative pressure line connected to the inlet of the pump;
a positive pressure control unit connected to the positive pressure line and controlling the size of positive pressure output through the positive pressure line; and
A pressure control device comprising: a negative pressure control unit connected to the negative pressure line and controlling the size of the negative pressure output through the negative pressure line.
According to clause 1,
The positive pressure control unit is,
A positive pressure valve connected to the positive pressure line; and
A pressure control device comprising a positive pressure processor that controls the operation of the positive pressure valve.
According to clause 2,
The positive pressure valve is a pressure control device characterized in that it is disposed between the positive pressure line and the external atmosphere.
According to clause 2,
A pressure control device, characterized in that the positive pressure valve is a proportional control valve.
According to clause 2,
The positive pressure processor,
a positive pressure controller that outputs a first positive pressure signal based on the difference between the target positive pressure and the positive pressure output through the positive pressure line;
a positive pressure disturbance observation unit that estimates disturbance generated according to a change in sound pressure output from the negative pressure line; and
A pressure control device further comprising a positive pressure disturbance removal unit that removes the disturbance estimated from the positive pressure disturbance observation unit from the first positive pressure signal output from the positive pressure controller and outputs a second positive pressure signal.
According to clause 1,
The negative pressure control unit is,
A negative pressure valve connected to the negative pressure line; and
A pressure control device comprising a negative pressure processor that controls the operation of the negative pressure valve.
According to clause 6,
The negative pressure valve is a pressure control device, characterized in that disposed between the negative pressure line and the external atmosphere.
According to clause 6,
A pressure control device, characterized in that the negative pressure valve is a proportional control valve.
According to clause 6,
The negative pressure processor,
A sound pressure controller that outputs a first sound pressure signal based on the difference between the target sound pressure and the sound pressure output through the sound pressure line;
a negative pressure disturbance observation unit that estimates disturbance generated according to changes in positive pressure output from the positive pressure line; and
A pressure control device further comprising a negative pressure disturbance compensator for outputting a second negative pressure signal by removing the disturbance estimated from the negative pressure disturbance observation unit from the first negative pressure signal output from the negative pressure controller.
According to clause 1,
A pressure control device further comprising a positive pressure boosting unit that amplifies the magnitude of the positive pressure output through the positive pressure line.
According to clause 10,
The positive pressure boosting unit,
A pressure storage tank that stores compressed air;
A boosting valve connected between the positive pressure line and the pressure storage tank; and
A pressure control device comprising a boosting processor that controls the operation of the boosting valve based on the target positive pressure and the positive pressure output through the positive pressure line.
According to clause 11,
The boosting processor opens the boosting valve when the positive pressure output through the positive pressure line is less than a set ratio compared to the target positive pressure.

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