JP5662033B2 - Air pressure actuator system - Google Patents

Description

  The present invention relates to a gas pressure actuator system, and more particularly to a gas pressure actuator system using a gas pressure cylinder.

  In recent urban vehicles or track vehicles as high-speed mass transit means, a structure in which the vehicle body is supported on a carriage by air springs or coil springs is widely used in order to reduce the vehicle body weight and ensure good riding comfort with little vibration. It has been. In such a vehicle body support device, since the vehicle body weight is always applied to the air spring or the coil spring that supports the vehicle body, the optimal rigid support force can always be exhibited in the vertical direction.

  On the other hand, with regard to lateral displacement or lateral sway when the vehicle passes a curve, a hydraulic actuator or gas pressure actuator is disposed laterally between the carriage and the vehicle body to generate lateral rigidity. Is called.

  For example, Patent Document 1 discloses that a hydraulic cylinder has an actuator function and a damper function in a pendulum system with control that tilts the vehicle body when the vehicle passes a curve. Here, a throttle valve capable of changing the flow rate of the working fluid flowing through the shunt circuit in accordance with the opening degree of the throttle is provided in the shunt circuit for communicating the bottom side and the rod side of the hydraulic cylinder to the hydraulic cylinder. It is disclosed to coordinately control the amount of hydraulic fluid supplied and the amount of hydraulic fluid supplied to a throttle valve.

JP 2008-247335 A

  As in Patent Document 1, by providing the hydraulic cylinder with an actuator function and a damper function, the hydraulic cylinder is normally used as an actuator for pendulum control, and the hydraulic cylinder is used as a damper at an abnormal time when the pendulum cannot be controlled. Therefore, it can be expected to ensure appropriate riding comfort even in an abnormal situation. For this purpose, it is necessary to coordinately control the supply amount of the working liquid to the hydraulic cylinder and the supply amount of the working liquid to the throttle valve, and a new control device is required.

  Therefore, instead of complicated cooperative control, a damper is separately provided in parallel with the hydraulic cylinder, which is an actuator, so that the damper is not operated in a normal state and the hydraulic cylinder is not operated in an abnormal state. In this case, it is only necessary to switch between the normal time and the abnormal time, but it is necessary to separately provide a damper having a configuration similar to that of the hydraulic cylinder.

  An object of the present invention is to provide a gas pressure actuator system having an actuator function and a damper function without requiring complicated control.

A gas pressure actuator system according to the present invention includes a gas pressure cylinder having two supply ports for supplying a control gas pressure to two gas chambers on both sides of a piston, and a gas pressure cylinder from a gas pressure supplied from a gas supply source. A servo valve that generates two control gas pressures to be supplied to the two and outputs them from two output ports, and a flow variably according to a differential pressure between the respective gas pressures of the gases input from the two input ports A variable throttle device for restricting, two introduction valves provided between two supply ports and two output ports, two communication valves provided between two supply ports and two input ports, and a switching command On the basis of the actuator function operating state in which the opening and closing of the two introduction valves and the opening and closing of the two communication valves are controlled, the gas pressure cylinder is connected to the servo valve, and is disconnected from the variable throttle device; And a switching control unit that switches an operation state between a damper function operating state that is connected to the variable throttle device and is disconnected from the servo valve, and the variable throttle device is a gas pressure cylinder in the damper function operating state. A swing spool having a left land, a center land, and a right land disposed on the stem , wherein one of the gas pressures at the two supply ports is a first gas pressure and the other is a second gas pressure; The sleeve that supports the outer periphery of each of the lands and guides the swing spool in a swingable manner in the axial direction of the stem, and the restoring force along the axial direction of the stem with respect to the left land and the right land of the swing spool, respectively. A left restoring spring to be applied, a right restoring spring, and a first opening provided in the sleeve and having a first gas pressure supplied to or discharged from the swing spool side; A second opening provided in the sleeve and having a second gas pressure discharged from the swinging spool side or supplied to the swinging spool side, and a left side in which the left restoring spring accommodates the gas having the first gas pressure A first connection channel for applying a first gas pressure to the left side of the left land, and a gas having a second gas pressure is guided to the right spring chamber in which the right restoring spring is accommodated, A second connection flow path for applying a second gas pressure to the right side surface of the land, and the first opening includes a left opening provided on the left side of the second opening and a right opening provided on the right side. The left opening and the right opening communicate with each other, and the swinging spool has a difference between a first gas pressure applied to the left side surface of the left land and a second gas pressure applied to the right side surface of the right land. The swinging drive force is received by the axial differential pressure, and the swinging spool is When in the neutral state, the center land is in a position corresponding to the second opening, the left land is in a position to fully open the left opening, the right land is in a position to fully open the right opening, Oscillation driving force that causes the oscillating spool to move to the right along the axial direction by the axial differential pressure ΔP _{12 obtained} by subtracting the second gas pressure from the first gas pressure. When receiving , the center land automatically moves to the right side so that the larger the ΔP ₁₂ is, the larger the opening area is, the left side of the second opening is opened and the second opening and the left opening are communicated. And the second gas pressure is higher than the first gas pressure, and the peristaltic spool moves to the left along the axial direction by the axial differential pressure ΔP _{21 obtained} by subtracting the first gas pressure from the second gas pressure. when receiving a driving force, the opening area is increased the larger the [Delta] P ₂₁ Open the right second opening urchin center land moves automatically to the left, so communication between the second opening and the right side opening portion, a difference between the first gas pressure and a second gas pressure When there is pressure, the first opening and the second opening communicate with each other regardless of the movement direction of the peristaltic sleeve, and the greater the axial differential pressure, the greater the amount of communication between the first opening and the second opening. It is characterized by being enlarged.

Further, the gas pressure actuator system according to the present invention, the relative positional relationship between each land rocking spool with respect to the first opening and the second opening when in the neutral state relative to the sleeve, a first opening second The first opening and the second opening are not set until the communication amount between the opening and the opening is zero or a predetermined predetermined amount of communication, or the movement exceeding the predetermined overlap amount from the neutral state. It is preferable to set so as to communicate with each other.

  Further, in the gas pressure actuator system according to the present invention, a first fixed throttle portion provided in the first connection flow path and throttles the gas flow guided to the left land side by a predetermined throttle amount; and a second connection flow path And a second fixed restricting portion that restricts the flow of gas guided to the right land side by a predetermined restricting amount.

  With the above configuration, the gas pressure actuator system has a difference between a gas pressure cylinder having two supply ports, a servo valve that outputs from two output ports, and a gas pressure that is input from two input ports. A variable throttle device that variably throttles the flow according to pressure, two introduction valves provided between two supply ports and two output ports, and provided between two supply ports and two input ports Actuator that controls the opening and closing of the two introduction valves and the opening and closing of the two communication valves on the basis of the switching command, and is connected to the servo valve and shut off from the variable throttle device The operation state is switched between the function operation state and the damper function operation state in which the gas pressure cylinder is connected to the variable throttle device and is disconnected from the servo valve.

  Here, in the damper function operating state, the variable throttle device is connected to the gas pressure cylinder, and the two supply ports of the gas pressure cylinder and the two input ports of the variable throttle device are respectively connected. The flow is variably throttled according to the differential pressure between the gas pressures in the gas chambers on both sides of the piston. In this way, the throttle can be varied only according to the differential pressure between the gas pressures in the two gas chambers of the gas pressure cylinder, so that the damper function can be exhibited without requiring complicated control with the servo valve, for example. .

  In the gas pressure actuator system, the variable throttle device is a spool / sleeve mechanism having a left restoring spring and a right restoring spring at both ends of the swing spool, respectively, and the swing spool is applied to the left side of the left land. Oscillating driving force is received by the differential pressure in the axial direction, which is the difference between the gas pressure applied and the gas pressure applied to the right side surface of the right land, whereby the relative positional relationship between the central land and the first opening is variable. By changing to, the gas flow between the first opening and the second opening is variably restricted. As described above, since the swing spool moves in the axial direction due to the axial differential pressure, the flow direction or flow rate can be made variable without requiring an external drive device for driving the swing spool. it can.

  In the gas pressure actuator system, the variable throttle device is provided in the first connection flow path, and includes a first fixed throttle unit that throttles a gas flow guided to the left land side by a predetermined throttle amount, and a second connection flow. A second fixed restrictor provided on the road and restricting a gas flow guided to the right land side by a predetermined amount of restriction; As a result, a sudden change in the swing drive force can be suppressed, and the change in the swing drive force can be made smooth.

It is a figure explaining the mode of the vehicle to which the gas pressure actuator system of an embodiment concerning the present invention is applied. It is a figure explaining the structure of the gas pressure actuator system of embodiment which concerns on this invention. In embodiment which concerns on this invention, it is a figure which shows a variable aperture apparatus. In the gas pressure actuator system of an embodiment concerning the present invention, it is a figure explaining a situation at the time of an actuator function operation state. In the gas pressure actuator system of an embodiment concerning the present invention, it is a figure explaining a situation at the time of a damper function operation state. In the gas pressure actuator system of embodiment which concerns on this invention, it is a figure explaining the effect | action of a variable throttle apparatus at the time of a damper function operation state. It is a figure explaining the effect | action of a variable aperture apparatus with FIG. In embodiment which concerns on this invention, it is a figure explaining the effect | action of a variable aperture apparatus. In the gas pressure actuator system of an embodiment concerning the present invention, it is a characteristic figure at the time of a damper function operation state. In the gas pressure actuator system of an embodiment concerning the present invention, it is a figure explaining an operation of a check valve to a characteristic figure at the time of a damper function operation state. In the gas pressure actuator system of an embodiment concerning the present invention, it is a figure explaining the effect of the channel area of a variable restrictor with respect to the characteristic figure at the time of a damper function operation state. In the gas pressure actuator system of an embodiment concerning the present invention, it is a figure showing the composition which added the fixed restrictor to the variable restrictor. It is a figure explaining the mode of the other vehicle to which the gas pressure actuator system of embodiment which concerns on this invention is applied.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. In the following, a railway vehicle will be described as an object to which the gas pressure actuator system is applied. However, any vehicle other than the railway vehicle may be used as long as the posture of the vehicle is controlled by a fluid pressure cylinder. Moreover, although the case where the fluid pressure cylinder is used for pendulum control and the case where it is used for anti-sway control is described, any fluid pressure cylinder may be used.

  Hereinafter, air will be described as a fluid applied to the gas pressure actuator system, but dry nitrogen other than air, inert gas, or the like may be used.

In the following description, in the variable throttle device, for example, the first gas pressure P _A is supplied to the two openings and the second gas pressure P _B is supplied to the one opening. The number of parts may be one or more. Further, the positional relationship between the opening and the land is such that the opening related to the first gas pressure P _A and the opening related to the second gas pressure P _B are in communication with each other, and in a disconnected state. Any arrangement relationship may be used as long as the direction of flow or the flow rate can be changed according to the swing driving force.

  The spring constant, natural frequency, and the like described below are examples for explanation, and can be appropriately changed according to performance specifications of a vehicle system to which the gas pressure actuator system is applied.

  Below, the same code | symbol is attached | subjected to the same element in all the drawings, and the overlapping description is abbreviate | omitted. In the description in the text, the symbols described before are used as necessary.

  FIG. 1 is a diagram illustrating a configuration of a gas pressure actuator system 220 in a railway vehicle 200 that performs pendulum control. The gas pressure actuator system 220 can use the gas pressure cylinder as an actuator function for pendulum control in normal times, and can use the gas pressure cylinder as a damper function in abnormal situations where pendulum control cannot be performed.

  1 includes a vehicle body 202, a carriage 204, a pendulum beam 206 supported by a roller 210 on the carriage 204, and an air spring 208 provided between the pendulum beam 206 and the vehicle body 202. With. Further, the railway vehicle 200 includes an axle that supports the wheels 214 and a coil spring 212 provided between the axle and the carriage 204, and the wheels 214 can travel on the rails 216.

  The gas pressure actuator system 220 mounted on the railway vehicle 200 includes a gas pressure cylinder 230 provided between the carriage 204 and the pendulum beam 206, a variable throttle device 10, which will be described in detail later, a servo valve 250, and a vehicle body 202. A sensor device 300 that detects an inclination state and the like and a control device 310 are configured.

  The control device 310 can be configured by a computer suitable for mounting on a vehicle. The control device 310 switches the connection relationship among the actuator control processing unit 312 that performs control when the gas pressure cylinder 230 is used as an actuator function for pendulum control, and the gas pressure cylinder 230, the variable throttle device 10, and the servo valve 250. In addition, a switching control processing unit 314 that switches to have a damper function by combining the gas pressure cylinder 230 with the variable throttle device 10 is included. These functions can be realized by software, specifically, by executing a gas pressure actuator system control program. Some of these functions may be realized by hardware.

  FIG. 2 is a diagram showing a detailed configuration of the gas pressure actuator system 220. As described above, the gas pressure actuator system 220 includes the gas pressure cylinder 230, the variable throttle device 10, and the servo valve 250. In FIG. Shown with source 270.

  This gas flow path includes two supply ports 242 and 244 of the gas pressure cylinder 230, two input ports 28 and 30 of the variable throttle device 10, one servo valve supply port 262 and two output ports of the servo valve 250. It is a flow path that is piped by connecting a total of seven ports 264 and 266 to each other.

  The gas pressure cylinder 230 includes a cylinder housing 232 connected to the carriage 204, a cylinder rod 234 connected to the pendulum beam 206, and a piston 236 provided at the tip of the cylinder rod 234 and sliding on the inner wall of the cylinder housing 232. Is a piston / cylinder mechanism including

  The gas pressure cylinder 230 has two gas chambers 238 and 240 that are partitioned by a piston 236 and formed on both sides of the piston 236 in the inner wall of the cylinder housing 232. The gas chamber 238 is connected to the supply port 242, and the gas chamber 240 is connected to the supply port 244.

  Since the gas pressure cylinder 230 is a piston / cylinder mechanism as described above, when supplying a gas having a control gas pressure to the two gas chambers 238 and 240 from the outside, the piston 236 is attached to the cylinder housing 232. It can be used as an actuator that moves and drives the pendulum beam 206 relative to the carriage 204. In addition, by supplying the gas in the two gas chambers 238 and 240 to the variable throttle device 10 without supplying the gas to the two gas chambers 238 and 240 from the outside, the pendulum beam 206 and the carriage 204 can be connected to each other. It can be used as a damper that absorbs fluctuations and the like. Details of switching between these two functions will be described later.

The servo valve 250 includes a servo valve sleeve 252, and Rusa turbo valve spool 254 housed inside the servo valve sleeve 252, a force motor 256 relatively moving drive the servo valve spool 254 relative to the servo valve sleeve 252 A force motor drive sleeve / spool mechanism including a restoring spring 258 that pulls the servo valve spool 254 back to a neutral position relative to the servo valve sleeve 252.

Servo valve 250 has a signal port 260 which receives a drive command signal from the controller 310 for the force motor 256, and a servo valve supply port 262 supplies gas pressure P _S is supplied from the gas supply source 270, the drive command signal Accordingly, the servomotor spool 256 is operated relative to the servovalve sleeve 252 when the force motor 256 is operated to generate two control gas pressures P _A and P _B from the supply gas pressure P _S. Have. The servo valve 250 has two output ports 264 and 266, to which gases having generated control gas pressures P _A and P _B are output, respectively.

  The variable throttle device 10 has two input ports 28 and 30, and has a function to variably throttle the flow in accordance with the differential pressure between the gas pressures of the gases input from the two input ports 28 and 30. It is an apparatus having.

  The variable throttle device 10 has two input ports 28 and 30. Before explaining the detailed contents of the variable throttle device 10, the gas flow path relation will be explained.

  The two introduction valves 280 and 282 are provided between the two output ports 264 and 266 of the servo valve and the two supply ports 242 and 244 of the gas pressure cylinder 230, and are controlled to open and close under the control of the control device 310. Is an on-off valve. Specifically, when the gas pressure cylinder 230 is used as having an actuator function, it is opened, and when the gas pressure cylinder 230 is used together with the variable throttle device 10 as a damper function, it is closed.

  The two communication valves 284 and 286 are provided between the two supply ports 242 and 244 of the gas pressure cylinder 230 and the two input ports 28 and 30 of the variable throttle device 10, and are under the control of the control device 310. This is an on-off valve that is controlled to open and close. Specifically, when the gas pressure cylinder 230 is used as having an actuator function, it is closed, and when the gas pressure cylinder 230 is used together with the variable throttle device 10 as a damper function, it is opened. Thus, the two introduction valves 280 and 282 and the two communication valves 284 and 286 are opposite to each other, such that when the introduction valve is opened, the communication valve is closed, and when the introduction valve is closed, the communication valve is opened. It is controlled to be in an open / close state. A time difference may be provided between the opening and closing operations of the two types of valves.

  The two check valves 290 and 292 are gas pressure upper limiters arranged so as to be connected in parallel with the variable throttle device 10 between the two input ports 28 and 30 of the variable throttle device 10. The check valves 290 and 292 have pressure directions opposite to each other when opened. That is, when the differential pressure, which is the difference between the gas pressures at the two input ports 28 and 30, becomes higher than a predetermined upper limit differential pressure, the check valve 290 or the check valve 292 is opened, and the differential pressure is not increased any more. .

  The two fixed throttles 294 and 296 are flow rate limiters for limiting the supply amount when supplying a small amount of gas from the gas supply source 270 toward the gas pressure cylinder 230 and the variable throttle device 10. That is, when the gas pressure cylinder 230 is used as a damper function in combination with the variable throttle device 10, since the gas is a compressible fluid, it is necessary to supplement the gas appropriately, but it is used to adjust the replenishment gas flow rate. It is done.

  Here, the contents of the control device 310 of FIG. 1 will be described. The control device 310 is a device that controls the operation of other components in the gas pressure actuator system 220 in a unified manner, and can be configured by a computer suitable for mounting on a vehicle. The control device 310 switches the connection relationship among the actuator control processing unit 312 that performs control when the gas pressure cylinder 230 is used as an actuator function for pendulum control, and the gas pressure cylinder 230, the variable throttle device 10, and the servo valve 250. In addition, a switching control processing unit 314 that switches to have a damper function by combining the gas pressure cylinder 230 with the variable throttle device 10 is included.

  The switching control processing unit 314 controls the opening and closing of the two introduction valves 280 and 282 and the opening and closing of the two communication valves 284 and 286 based on the switching command, and the gas pressure cylinder 230 is connected to the servo valve 250 and the variable throttle device. 10 has a function of switching the operating state between an actuator function operating state that is interrupted by 10 and a damper function operating state in which the gas pressure cylinder 230 is connected to the variable throttle device 10 and is disconnected from the servo valve 250.

  Specifically, as described above, when the gas pressure cylinder 230 is used as having an actuator function, the two introduction valves 280 and 282 are opened, and the two communication valves 284 and 286 are closed. When the gas pressure cylinder 230 is used with the variable throttle device 10 as a damper function, the two introduction valves 280 and 282 are closed and the two communication valves 284 and 286 are opened. The switching command is issued when the control device 310 determines that the operation of the gas pressure cylinder 230 is abnormal or the processing result in the actuator control processing unit 312 is abnormal.

  These functions of the control device 310 can be realized by software, specifically, by executing a gas pressure actuator system control program. Some of these functions may be realized by hardware.

Next, the variable aperture device 10 will be described. FIG. 3 is a diagram illustrating the configuration of the variable aperture device 10. The variable throttle device 10 is a kind of a spool / sleeve mechanism including a housing 20, a sleeve 40, and a swing spool 50. The housing 20 includes a first connection port in which the input port 28 of a gas having a first gas pressure P _A is connected to the gas chamber 238 of the pneumatic cylinder 230 is supplied or discharged, the gas chamber of the gas pressure cylinder 230 An input port 30 that is a second connection port connected to 240 and through which a gas having a second gas pressure P _B is supplied or discharged is provided.

Here, the first gas pressure P _A and the second gas pressure P _B are supplied to the supply port 242 of the gas pressure cylinder 230 when the variable throttle device 10 is used together with the gas pressure cylinder 230 and exhibits a damper function as a whole. Since the gas pressure is 244, the same symbols are used as the gas pressures P _A and P _B.

The variable throttle device 10 is swung by an axial differential pressure, which is a difference between the first and second gas pressures P _A and P _B , applied to the left and right ends of the swing spool 50. The spool 50 has a configuration suitable for receiving a swing driving force. Note that the left and right are for the position along the axial direction of the swing spool 50. As shown in FIG. 3, if the axial direction of the swing spool 50 is the X-axis direction and the + X side is the right side, The X side is the left side.

  In FIG. 3, the housing 20 is a cylindrical member having an arrangement space in which the sleeve 40 and the swing spool 50 are arranged at the center. In this arrangement space, the left spring chamber 22 and the right spring chamber 24 respectively provided on the left and right ends of the swing spool 50 are respectively accommodated so that the left restoring spring 60 and the right restoring spring 62 can be compressed and extended in the axial direction. Space.

Further, the housing 20, the first introduction passage 29 extending from the input port 28 on the sleeve 40 side through the left opening 44 and the right opening 46 provided in the sleeve 40, having a first gas pressure P _A gas was supplied to the swing spool 50 side, or a passage for discharging a gas having a first gas pressure P _a from the pivot spool 50 side. Here, the left opening 44 and the right opening 46 are connected together to the first introduction flow path 29 passing through the inside of the housing 20, so that the left opening 44 and the right opening 46 communicate with each other, The opening for introducing gas has the same function. In that sense, the left opening 44 and the right opening 46 configured to communicate with each other can be collectively referred to as a first opening. Thus, the first opening is an opening of the flow path related to the input port 28.

First connection channel 32 connecting the first introduction passage 29 and the left spring chamber 22, by supplying the first gas pressure P _A on the left side spring chamber, as described below, the left side surface of the left land 54 to a channel having a function of providing an axial force corresponding to the first gas pressure P _a.

Similarly, in the housing 20, the second introduction flow path 31 extending from the input port 30 toward the sleeve 40 oscillates the gas having the second gas pressure P _B via the central opening 42 provided in the sleeve 40. It is a flow path for supplying gas to the spool 50 side or discharging gas having the second gas pressure P _B from the swing spool 50 side. Although there is one central opening 42, it can be referred to as a second opening for comparison with the first opening. That is, the second opening is an opening of the flow path related to the input port 30.

In addition, the second connection flow path 34 that connects the second introduction flow path 31 and the right spring chamber 24 supplies the second gas pressure P _B to the right spring chamber, so that, as will be described later, The flow path has a function of applying a force corresponding to the second gas pressure P _B to the right side surface.

  The left restoring spring 60 accommodated in the left spring chamber 22 and the right restoring spring 62 accommodated in the right spring chamber 24 are elastic bodies having a function of returning to the neutral position with respect to the axial movement of the swing spool 50. is there. In FIG. 3, the left restoring spring 60 and the right restoring spring 62 are shown as coil springs. However, the left restoring spring 60 and the right restoring spring 62 are always neutral when they are compressed and extended in the axial direction of the swing spool 50 and moved in the axial direction. As long as it is an elastic body having a function of pulling back to the position, plastic rubber, leaf spring, or the like may be used.

  The left restoring spring 60 is an elastic body as described above, and disks are provided at both ends in the axial direction. The left disk is for determining the axial position of the left restoring spring 60 and setting the restoring force. The left adjustment screw 70 to be screwed into the housing 20 has a function of adjusting the axial position according to the screwing amount, with the tip thereof being in contact with the left disk. In this way, the restoring force of the left restoring spring 60 is set by adjusting the screwing amount of the left adjusting screw 70. Note that one or both of the left adjustment screw 70 and the right adjustment screw 72 described later can be omitted.

  The disc on the right side of the left restoring spring 60 transmits the restoring force to the left end of the swing spool 50. The right disc and the left end of the oscillating spool 50 can be configured as a pivot and a bearing so that friction is reduced. That is, a pivot is provided on the left end surface of the right disk, and a bearing that receives the pivot is disposed on the left end of the swing spool 50, thereby supporting each other by line contact. The pivot may be provided on the swing spool 50 and the bearing may be provided on the right disk. Since the pivot or the like is for reducing friction, the variable aperture device 10 functions as an aperture even without a pivot or the like.

Further, the gas in the first gas pressure P _A is guided to the left the spring chamber 22. Then, the outer periphery of the right disc in the left spring chamber 22, passes between the inner wall of the left spring chamber 22, the gas of the first gas pressure P _A is electrically on the left side of the left land 54 of the oscillating spool 50 It is burned. Thus, the axial force corresponding to the first gas pressure P _A is applied to the left side of the left land 54 of the oscillating spool 50.

Similarly, the right restoring spring 62 is also provided with discs at both ends in the axial direction. The right disk determines the axial position of the right restoring spring 62 and sets the restoring force. The left disk transmits the restoring force to the swing spool 50. The right spring chamber 24 is guided with a gas having the second gas pressure P _B. Then, the gas having the second gas pressure P _B is guided to the right side surface of the right land 56 of the swing spool 50 through the space between the outer circumference of the left disc in the right spring chamber 24 and the inner wall of the right spring chamber 24. It is burned. As a result, an axial force corresponding to the second gas pressure P _B is similarly applied to the right side surface of the right land 56 of the swing spool 50. Similarly, the right adjustment screw 72 screwed into the housing 20 has a function of adjusting the axial position of the right restoring spring 62 in accordance with the screwing amount. In other respects, the detailed configuration is the same as that described for the left restoring spring 60.

In this way, the left restoring spring 60 and the right restoring spring 62 are provided at both ends of the swing spool 50, and basically the axial position of the swing spool 50 is set to the neutral position. As described above, the axial force from the side of the left side spring chamber 22 according to the first gas pressure P _A is applied to the left end of the swing spool 50, a second gas pressure P _B from the side of the right side spring chamber 24 Since the axial force according to the pressure is applied to the right end of the swing spool 50, the swing spool 50 is given a driving force to move from the neutral position according to the differential pressure (P _A -P _B ). become. When the first gas pressure P _A = the second gas pressure P _B , the swing spool 50 is correctly positioned at the neutral position. FIG. 3 is a view showing a state where the swing spool 50 is correctly in the neutral position.

  The sleeve 40 in FIG. 3 is a cylindrical member that is fixedly attached to the arrangement space in which the sleeve 40 and the swing spool 50 are arranged at the center of the housing 20, and the outer peripheral portion is fixed to the housing 20. The inner peripheral surface is a sliding surface that supports the swing spool 50 so as to be movable in the axial direction. As the sliding surface, in addition to the contact between the sleeve 40 and the swing spool 50, a resin or the like may be provided on the outer periphery of the swing spool 50, and the contact between the metal and the resin may be used.

  As described in the description of the configuration of the housing 20, the sleeve 40 is provided with three openings spaced apart from each other along the axial direction. As shown in FIG. 3, the arrangement order is the left opening 44, the central opening 42, and the right opening 46 from the left side that is −X side to the right side that is + X side. Corresponding to these openings, the housing 20 is also provided with three openings, and as described above, the left opening 44 and the right opening 46 are connected to the first introduction flow path 29 and the central opening. The part 42 is connected to the second introduction flow path 31.

  The swing spool 50 is a shaft body on which a left land 54, a center land 52, and a right land 56 are arranged on a stem. As shown in FIG. 3, the arrangement order of each land is a left land 54, a center land 52, and a right land 56 from the left side that is −X side to the right side that is + X side. The outer peripheral dimension of each land is set slightly smaller than the inner diameter dimension of the sliding surface of the inner peripheral surface of the sleeve 40. Slightly smaller means that the swing spool 50 is supported by the sleeve 40 and maintains a gap that can be smoothly moved in the axial direction while maintaining airtightness between the lands and the sleeve 40. In addition, when the damping effect is positively exerted by this gap, it is preferable to widen this gap amount to some extent.

  The stem is a thin shaft member that connects the lands. The outer diameter of the stem is sufficiently smaller than the outer diameter of the lands. Therefore, a space is formed between the stem between each land and the sleeve 40, and this space becomes a gas chamber that holds gas or flows gas. In the example of FIG. 3, a left gas chamber is formed between the left land 54 and the center land, and a right gas chamber is formed between the center land 52 and the right land.

  The arrangement positions of the lands of the swing spool 50 and the arrangement positions of the openings of the sleeve 40 are set as follows. That is, when the swing spool 50 is in the neutral position, the central land 52 is a position where the central opening 42 is just closed. The left land 54 is shifted to the −X direction from the position of the left opening 44 so that the left opening 44 is completely opened. Further, the right land 56 is set at a position shifted in the + X direction from the position of the right opening 46 so that the right opening 46 is completely opened.

Therefore, in the neutral state, the first gas pressure P _A, in addition to being supplied to the left the spring chamber 22, through the left opening 44 and the right opening 46, is supplied to the side of the swing spool 50. On the other hand, the second gas pressure P _B is supplied to the right spring chamber 24, but the central opening 42 is closed by the central land 52, so that it is blocked and not supplied to the swing spool 50 side.

  That is, as shown in FIG. 3, when the swing spool 50 is in a neutral state with respect to the sleeve 40, the first opening and the second opening with respect to the relative positional relationship of each land with respect to the first opening and the second opening. It is set so that the amount of communication with the part becomes zero. Specifically, when the spool has three lands and the sleeve has three openings as shown in FIG. 3, the center land 52 is the second opening in the neutral state as described above. The positional relationship between the central land 52 and the central opening 42 is set so that the portion 42 can be completely closed. At this time, the left land 54 and the right land 56 are in such a positional relationship that the left opening 44 and the right opening 46, which are the second openings, are not blocked. The position of the swing spool 50 in such a positional relationship is the neutral position of the swing spool 50.

In some cases, even in the neutral state, the communication amount between the first opening and the second opening may be a predetermined amount of communication that is predetermined. Specifically, the central land 52 central opening 42 is a second opening without completely blocked, or as to open the second opening with a predetermined allowance gap in part batchwise. In this way, the central land 52 to open the second opening partially, between the first opening and the second opening, can perform a communication suitable amount of gas. Thereby, the operation of the variable aperture device 10 can be made more stable. Conversely, an overlap of the swing spool 50 is provided on both sides of the central opening 42, and even if the swing spool 50 moves in the neutral state and the overlap range, the first opening and the second opening are not It is possible to prevent communication. Below, description is continued about the case where the communication amount between a 1st opening part and a 2nd opening part is zero in a neutral state.

Further, when the axial differential pressure (P _A -P _B ) is generated, the swing spool 50 moves from its neutral state. By this movement, the relative positional relationship of each land with respect to the first opening and the second opening is variably changed. As a result, the amount of communication between the first opening and the second opening is changed according to the amount of change in the positional relationship regardless of the direction of movement so as to variably restrict the gas flow. become. Regardless of the direction of movement, the first value is the same as long as the absolute value of the relative movement amount of the sleeve 40 with respect to the swing spool 50 is the same regardless of whether the movement direction is the right direction or the left direction. This means that the amount of communication between the opening and the second opening is the same. The specific contents will be described later.

The operation of the above configuration will be described in detail with reference to FIGS. Figure 4 is a diagram showing a state of the gas flow path when utilizing the gas pressure cylinder 230 as an actuator, FIG. 5, the gas stream when using a gas pressure cylinder 230 as a damper with a variable throttle device 10 It is a figure which shows the state of a road.

  The state in FIG. 4 is a state in which the railway vehicle 200 that performs pendulum control normally travels. In this state, the gas pressure cylinder 230 is used as having an actuator function. Therefore, the control device 310 opens the two introduction valves 280 and 282 and closes the two communication valves 284 and 286. Thereby, the variable throttle device 10 is disconnected from the gas pressure cylinder 230, and the gas pressure cylinder 230 is connected to the servo valve 250.

That is, the inclination state of the vehicle body 202 detected by the sensor device 300 is determined, and a drive command signal is issued so that the actuator control processing unit 312 of the control device 310 takes an appropriate vehicle body posture. The force motor 256 of the valve 250 is actuated to move the servo valve spool 254 relative to the servo valve sleeve 252 to generate two control gas pressures P _A and P _B from the supply gas pressure P _S , and an output port 264 and 266.

Gas having a controlled gas pressure P _A from the output port 264 is supplied to the gas chamber 238 through the supply port 242 of the pneumatic cylinder 230. Similarly, the gas having the control gas pressure P _B from the output port 266 is supplied to the gas chamber 240 via the supply port 244 of the gas pressure cylinder 230. When the gas having the control gas pressures P _A and P _B is supplied to the two gas chambers 238 and 240 of the gas pressure cylinder 230 in this way, the piston is caused by the difference between the two control gas pressures P _A and P _B. 236 slides on the inner wall of the cylinder housing 232. As a result, the piston rod 234 moves relative to the cylinder housing 232, and thus the pendulum beam 206 can move relative to the carriage 204. This is the function of the gas pressure cylinder 230 as an actuator.

The state in FIG. 5 is when the railway vehicle 200 that performs pendulum control enters an abnormal state. At this time, the gas pressure cylinder 230 is used as having a damper function. That is, when the controller 310 determines that this abnormal state has occurred, the two introduction valves 280 and 282 are closed by the function of the switching control processing unit 314 of the controller 310, and the two communication valves 284 and 286 are closed. Is opened. As a result, the servo valve 250 is disconnected from the gas pressure cylinder 230, and the gas pressure cylinder 230 is connected to the variable throttle device 10.

  That is, the gas chamber 238 of the gas pressure cylinder 230 is connected to the input port 28 of the variable throttle device 10 via the supply port 242, and the input port of the variable throttle device 10 via the gas chamber 240 supply port 244 of the gas pressure cylinder 230. 30. As a result, one closed gas flow path in which the gas chamber 238 and the gas chamber 240 circulate through the variable throttle device 10 is formed. Then, the piston 236 is moved by the relative movement between the carriage 204 and the pendulum beam 206 in the closed gas flow path, so that the closed gas flow path is generally composed of the carriage 204 and the pendulum beam 206. Acts as a damper against relative motion between the two. This is the damper function of the gas pressure cylinder 230 and the variable throttle device 10.

  6 to 8 are diagrams for explaining the operation of the variable aperture device 10. The variable throttle device 10 is a device having a function of variably restricting the flow in accordance with the differential pressure between the gas pressures of the gases input from the two input ports 28 and 30, and variably restricts this flow. In this regard, no special drive device or special control drive signal is required. It has the effect of automatically operating by the differential pressure of the respective gas pressures at the two input ports 28 and 30 to restrict the flow.

In the operation of the gas pressure actuator system 220, in the damper function operating state, this action is achieved by setting one of the gas pressures P _A and P _{B at} the two supply ports 242 and 244 of the gas pressure cylinder 230 as the first gas pressure. Is the second gas pressure, and the communication amount between the two input ports 28 and 30 is linearly irrespective of the sign of the differential pressure according to the differential pressure that is the difference between the first gas pressure and the second gas pressure. Or it changes non-linearly.

6 and 7 are diagrams for explaining the operation of the variable aperture device 10 having the above-described configuration. 6 shows a case where the first gas pressure P _A is lower than the second gas pressure P _B , and FIG. 7 shows a case where the first gas pressure P _A is higher than the second gas pressure P _B.

In FIG. 6, the first gas pressure P _A is lower than the second gas pressure P _B. That is, since the second gas pressure P _B is higher than the first gas pressure P _A , the driving force in the −X direction due to the gas pressure P _B applied from the right spring chamber 24 side to the right end of the swing spool 50 is increased. , greater than the driving force of the gas pressure P _a in accordance + X direction given from the side of the left side spring chamber 22 at the left end of the swing spool 50. Therefore, the swinging spool 50 moves to the −X side from the neutral position by the swinging driving force by this axial direction differential pressure (P _B −P _A ).

By moving the swing spool 50 from the neutral position to the −X side, the central land 52 opens the right side of the central opening 42. The opening amount varies depending on the axial differential pressure (P _B -P _A ). That is, the flow channel area is the amount of opening is large when the axial pressure difference (P _B -P _A) is large, smaller the axial differential pressure (P _B -P _A) is. Thus, the flow path area is variably changed by the axial differential pressure (P _B −P _A ).

In this way, the gas having the second gas pressure P _B from the gas chamber 240 of the gas pressure cylinder 230 is converted into the right gas chamber of the input port 30 -the second introduction flow path 31 -the central opening 42 -the swing spool 50. -The right opening 46-the first introduction flow path 29-through the input port 28 and led to the gas chamber 238 of the gas pressure cylinder 230.

On the other hand, in FIG. 7, the first gas pressure P _A because it is a higher pressure than the second gas pressure P _B, due to the gas pressure P _A applied from the side of the left side spring chamber 22 at the left end of the swing spool 50 + X direction Is larger than the driving force in the −X direction by the gas pressure P _{B applied} to the right end of the swing spool 50 from the right spring chamber 24 side. Therefore, the swinging spool 50 moves to the + X side from the neutral position by the swinging driving force generated by the axial direction differential pressure (P _A −P _B ).

By moving the swing spool 50 from the neutral position to the + X side, the central land 52 opens the left side of the central opening 42. The opening amount varies depending on the axial differential pressure (P _A −P _B ). As in the case of the movement from the neutral position of the swing spool 50 to the −X side, the flow path area, which is the opening amount, is variably changed by the axial differential pressure (P _A −P _B ).

Therefore, gas having a first gas pressure P _A from the gas chamber 238 of the pneumatic cylinder 230, the input port 28-the first introduction passage 29 to the left gas chamber of the left opening 44- oscillating spool 50 - central opening The portion 42, the second introduction flow path 31, and the input port 30 are led to the gas chamber 240 of the gas pressure cylinder 230.

Thus, the variable throttle device 10, when the gas pressure P _A of the gas chamber 238 of the pneumatic cylinder 230 is lower pressure than the gas pressure P _B of the gas chamber 240 of the pneumatic cylinder 230, the high pressure side of the pneumatic cylinder supplied with high pressure gas from the side of the gas chamber 240 of the 230, on the contrary, when the lower pressure than the gas pressure P _a of the gas chamber 238 of the gas pressure P _B is the gas pressure cylinder 230 of the gas chamber 240 of the pneumatic cylinder 230 The high pressure gas can be supplied from the gas chamber 238 side of the high pressure side gas pressure cylinder 230 to the gas chamber 240 of the gas pressure cylinder 230. With such an action, by using the variable throttle device 10, it is possible to suppress a pressure difference between the gas chamber 238 and the gas chamber 240 of the gas pressure cylinder 230.

Here, the drive, the first gas pressure P _A and the second gas pressure swing spool 50 for suppressing the pressure difference between the gas chamber 240 of the gas chamber 238 and a gas pressure cylinder 230 of the pneumatic cylinder 230 The axial differential pressure, which is a difference from P _B , is used, and if an axial differential pressure is generated without using a special drive device, the swing drive is automatically performed. Further, the flow path area is varied according to the magnitude of the axial differential pressure, and the larger the axial differential pressure, the larger the flow path area. Therefore, the gas chamber 238 of the gas pressure cylinder 230 and the gas of the gas pressure cylinder 230 Even if a pressure difference occurs between the chamber 240 and the chamber 240, the pressure difference can be quickly eliminated and the equilibrium pressure can be restored. In this way, the shape of the opening can be set so that the amount of movement of the swing spool 50 in the X direction and the amount of change in the flow path area have a proportional relationship. In addition, the relationship between the amount of movement in the X direction and the flow path area can be made non-linear, or can be changed in two steps.

FIG. 8 shows the operation of the variable throttle device 10 as a communication between the first opening A and the second opening B when the relative positional relationship between the swing spool 50 and the sleeve 40 is changed. It is a figure explaining the change of quantity. In FIG. 8 , the horizontal axis takes time, the change of the displacement X, which is the relative position difference between the swing spool 50 and the sleeve 40, and the first opening A and the second opening corresponding thereto. The change in the communication amount with B is shown. As shown in FIG. 8 , even if X changes from the neutral state to the plus side or the minus side, the communication amount between the first opening A and the second opening B is the direction of change of X. Regardless, if the absolute values of X are the same, they are the same. The magnitude of the communication amount between the first opening A and the second opening B is changed according to the change in the magnitude of the absolute value of X. That is, the variable aperture device 10 has a kind of rectifying action with respect to the change function of X.

  Thus, the variable throttle device 10 changes the relative positional relationship between the swing spool 50 and the sleeve 40 in accordance with the differential pressure that is the difference in gas pressure between the input ports 28 and 30. As a result, the communication amount between the first opening A and the second opening B automatically changes, so that it can be used as a diaphragm device.

By connecting the input ports 28 and 30 of the variable throttle device 10 to the supply ports 242 and 244 of the gas pressure cylinder 230, respectively, it can be used as a damper function as a whole. That is, in the configuration described with reference to FIG. 5, when the pendulum control does not work, and when relative movement occurs between the pendulum beam 206 and the carriage 204, the gas pressure cylinder 230 and the variable throttle device 10 have a damper function as a whole. This produces a reaction force F corresponding to the relative speed V = dX / dt between the pendulum beam 206 and the carriage 204.

  FIG. 9 is a diagram illustrating a state of the characteristic line 322 of the damper action when the gas pressure cylinder 230 and the variable throttle device 10 are combined. Here, the horizontal axis is the relative speed V between the pendulum beam 206 and the carriage 204, and the vertical axis is the reaction force F generated between the piston rod 234 and the cylinder housing 232.

  Here, for reference, a characteristic line 320 in the case of using an orifice restrictor which is a fixed restrictor in which the size of the opening is matched to the characteristics of the gas pressure cylinder 230 is also shown. As shown in FIG. 9, the characteristic line 320 when using the orifice restrictor has a hysteresis characteristic, whereas in the case of FIG. 5 using the variable restrictor 10, the characteristic line 322 has linearity. .

  FIG. 10 is a diagram illustrating the operation of the check valves 290 and 292 described with reference to FIG. As shown in this figure, by appropriately limiting the upper limit of the gas pressure at the input ports 28 and 30 by the check valves 290 and 292, the variation of the reaction force F in the characteristic line 322 of the damper characteristic of the variable throttle device 10 It is possible to make the characteristic line 324 in which the overall size is changed.

  As described above, the variable throttle device 10 has a proportional relationship between the amount of movement of the swing spool 50 in the X direction and the amount of change in the flow path area, and by devising the shape of the opening, And the channel area can be made non-linear. Therefore, by devising the shape of the opening, the relationship of the reaction force F with respect to the velocity V = dX / dt can be made nonlinear in addition to the proportional relationship. FIG. 11 is a diagram schematically illustrating the state, in addition to the proportional characteristic line 322, a characteristic line 326 in which the reaction force F increases rapidly when the speed V increases, and the reaction force F saturates when the speed V increases. A characteristic line 328 is possible.

  As described above, the damper function in which the variable throttle device 10 is combined with the gas pressure cylinder 230 can flexibly design the characteristic line of the damper characteristic using the characteristics of the variable throttle device 10. Thereby, the design freedom of control in the railway vehicle 200 can be improved.

  Next, a modified example of the variable aperture device will be described. FIG. 12 is a diagram illustrating the configuration of the variable throttle device 12 in which the fixed throttle portions 80 and 81 are provided in the first connection flow path 32 and the second connection flow path 34 in the configuration of FIG. The configuration other than the first connection flow path 32, the second connection flow path 34, and the fixed throttle portions 80 and 81 is the same as that in FIG.

  The fixed restricting portion 80 is provided in the first connection flow path 32 and is used to restrict the flow of gas guided to the left spring chamber 22 by a predetermined restricting amount. Similarly, the fixed restricting portion 81 is provided in the second connection flow path 34 and is used for restricting the flow of gas guided to the right spring chamber 24 by a predetermined amount of restriction. As a result, a sudden change in the swing drive force can be suppressed, and the change in the swing drive force can be made smooth.

  These two fixed throttle portions 80 and 81 can be the same, but can be referred to as the first fixed throttle portion 80 and the second fixed throttle portion 81 particularly when it is desired to distinguish them. As the first fixed throttle unit 80 and the second fixed throttle unit 81, an orifice throttle, a radial slit type throttle, a porous throttle that allows a gas to flow into a porous material, or the like can be used.

  The flow path resistance of the throttle of the fixed throttle unit 80 can be set so as to suppress the pulsation frequency of the gas flow according to the gas volume of the left spring chamber 22. That is, generally, if the flow path resistance of the throttle is R and the gas capacity of the gas chamber into which the gas flows is C, the natural frequency f of the gas flow is f = ω / (2π) = 1 / (2πRC ). Since a frequency faster than this does not respond, it can be used as a high-pass cut filter, that is, a low-pass filter.

In the above, in the left opening portion 44 and the right opening 46 provided in the sleeve 40, a gas having a first gas pressure P _A is discharged from the side of the supply to the side or swinging spool 50 of the pivot spool 50, and In the central opening 42, the gas having the second gas pressure P _B is supplied to the oscillating spool 50 side or discharged from the oscillating spool 50 side. In such a case, as described above, the left opening 44 and the right opening 46 can be referred to as a first opening, and the central opening 42 can be referred to as a second opening. Thus, in the above description, there are three openings, but the number of openings may be other than three.

  Although the case where the gas pressure actuator system 220 is applied to the railway vehicle 200 that performs the pendulum control has been described above, FIG. 13 illustrates an example of the gas pressure actuator system 221 that is applied to the rail vehicle 201 that performs the shake prevention control. FIG. Here, a gas pressure cylinder 230 is provided between the beam of the vehicle body 202 and the carriage 204, and the variable throttle device 10 and the servo valve 250 are further provided.

  The connection relationship among the gas pressure cylinder 230, the variable throttle device 10, and the servo valve 250 in the gas pressure actuator system 221 is the same as that described in FIG. The gas pressure actuator system 221 is configured such that, for example, when the railcar 201 is in a normal traveling condition at a predetermined speed or more, the gas pressure cylinder 230 is oscillated so as to suppress relative oscillation between the vehicle body 202 and the carriage 204. Acts as a prevention actuator. Under the condition that the anti-swaying control does not work, the gas pressure cylinder 230 and the variable throttle device 10 work as a damper function.

  The state of the gas flow in the former case is the same as the content described in relation to FIG. 4, and the state of the gas flow in the latter case is the same as the content described in relation to FIG. Is omitted.

  The gas pressure actuator system according to the present invention can be used for a railway vehicle that performs pendulum control, a railway vehicle that performs anti-shake control, and the like.

  10, 12 Variable throttle device, 20, 100 Housing, 22 Left spring chamber, 24 Right spring chamber, 28, 30 Input port, 29, 31 Introduction flow path, 32, 34 Connection flow path, 40, 102 Sleeve, 42, 44, 46 opening, 50 swing spool, 52 center land, 54 left land, 56 right land, 60 left restoring spring, 62 right restoring spring, 70 left adjusting screw, 72 right adjusting screw, 80, 81 fixed throttle, 200, 201 Railcar, 202 Car body, 204 Bogie, 206 Pendulum beam, 210 Roller, 214 Wheel, 216 Rail, 220, 221 Gas pressure actuator system, 230 Gas pressure cylinder, 232 Cylinder housing, 234 Cylinder rod, 234 Piston rod 236 piston, 238, 240 gas chamber, 242, 244 Supply port, 250 Servo valve, 252 Servo valve sleeve, 254 Servo valve spool, 256 Force motor, 260 Signal port, 262 Servo valve supply port, 264, 266 Output port, 270 Gas supply source, 280, 282 Inlet valve, 284 286 communication valve, 290, 292 check valve, 300 sensor device, 310 control device, 312 actuator control processing unit, 314 switching control processing unit, 320, 322, 324, 326, 328 characteristic line.

Claims (3)

A gas pressure cylinder having two supply ports for supplying a control gas pressure to each of the two gas chambers on both sides of the piston;
A servo valve that generates two control gas pressures to be supplied to a gas pressure cylinder from a supply gas pressure from a gas supply source and outputs them from two output ports;
A variable throttle device that variably throttles the flow according to the differential pressure between the gas pressures of the gases input from the two input ports;
Two introduction valves provided between two supply ports and two output ports;
Two communication valves provided between the two supply ports and the two input ports;
Based on the switching command, the actuator function operating state in which the opening and closing of the two introduction valves and the opening and closing of the two communication valves are controlled, the gas pressure cylinder is connected to the servo valve and is disconnected from the variable throttle device, and the gas pressure cylinder is A switching control unit that switches an operation state between a damper function operation state that is connected to the variable throttle device and is disconnected from the servo valve;
With
The variable aperture device
In the damper function operating state, one of the gas pressures in the two supply ports of the gas pressure cylinder is the first gas pressure and the other is the second gas pressure.
A swing spool in which a left land, a center land, and a right land are arranged on the stem;
A sleeve that supports the outer periphery of each land of the swing spool and guides the swing spool so as to swing freely in the axial direction of the stem;
A left restoring spring and a right restoring spring for applying a restoring force along the axial direction of the stem to the left land and the right land of the swing spool,
A first opening provided in the sleeve and having a first gas pressure supplied to the oscillating spool side or discharged from the oscillating spool side;
A second opening provided in the sleeve and having a second gas pressure discharged from the swing spool side or supplied to the swing spool side;
A first connection flow path for guiding a gas having a first gas pressure to a left spring chamber in which a left restoring spring is accommodated to apply a first gas pressure to the left side surface of the left land;
A second connecting flow path for guiding the gas having the second gas pressure to the right spring chamber in which the right restoring spring is accommodated to apply the second gas pressure to the right side surface of the right land;
Including
The first opening is composed of a left opening provided on the left side of the second opening and a right opening provided on the right side, and the left opening and the right opening communicate with each other,
The swing spool
Oscillating driving force is received by an axial differential pressure which is a difference between a first gas pressure applied to the left side of the left land and a second gas pressure applied to the right side of the right land;
When the swing spool is in a neutral state with respect to the sleeve, the center land is in a position corresponding to the second opening, the left land is in a position to fully open the left opening, and the right land is in the position completely opening the right opening. In the open position,
Oscillation drive in which the oscillation spool moves to the right along the axial direction by the axial differential pressure ΔP _{12 obtained} by subtracting the second gas pressure from the first gas pressure when the first gas pressure is higher than the second gas pressure When receiving a force , the central land automatically moves to the right side so that the larger the ΔP ₁₂ is, the larger the opening area, the left side of the second opening is opened, and the gap between the second and left side openings is increased. Communicate
Oscillation driving force that causes the peristaltic spool to move to the left along the axial direction due to the axial differential pressure ΔP _{21 obtained} by subtracting the first gas pressure from the second gas pressure when the second gas pressure is higher than the first gas pressure. the when receiving, open the right side of the second opening to move automatically the central land to the left so that the opening area increases the larger the [Delta] P _21, communication between the second opening and the right opening Let
When there is a differential pressure between the first gas pressure and the second gas pressure, the first opening and the second opening communicate with each other regardless of the movement direction of the peristaltic sleeve, and the larger the axial differential pressure, the first A gas pressure actuator system characterized in that the amount of communication between the opening and the second opening is increased. The gas pressure actuator system according to claim 1 ,
When the swing spool is in a neutral state with respect to the sleeve, the relative positional relationship of each land with respect to the first opening and the second opening is such that the communication amount between the first opening and the second opening is zero or It is set so that a predetermined predetermined amount of communication is established, or is set so that the first opening and the second opening are in communication for the first time by a movement exceeding the predetermined overlap amount from the neutral state. A gas pressure actuator system. The gas pressure actuator system according to claim 1 ,
A first fixed restricting portion that is provided in the first connection flow path and restricts the flow of gas guided to the left land side by a predetermined restricting amount;
A second fixed restricting portion that is provided in the second connection flow path and restricts the flow of gas guided to the right land side by a predetermined restricting amount;
A gas pressure actuator system comprising:

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