空気圧サーボ系の非線形オートチューニングコントロール : 2自由度制御システムによりコントローラを構成した場合(機械力学,計測,自動制御)

概要

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This paper describes a non-linear auto-tuning controller for a pneumatic servo system. The pneumatic servo system has essentially non-linear elements such as compressibility of air, friction between cylinder and piston. Therefore, we propose a two-degress-of-freedom control system in which a non-linearity is compensated by neural networks. This proposed control system uses two controllers. One is a reverse system controller, which improves the tracking performance for the reference input, and the other is a feedback controller, which restrains the non-linear disturbance input. In particular, the reverse system controller identifies the plant automatically by a two layers neural network, and the feedback controller compensates for the non-linearity with a three layers neural network. Further, the effectiveness of the proposed control system is confirmed by experiments using the existent pneumatic servo system.
社団法人日本機械学会の論文
2002-07-25