付加外力の伴う空気圧サーボ系のニューラルネットワーク併用型MRAC(機械力学,計測,自動制御)

概要

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Pneumatic servo systems contain non-linear elements caused by compressibility of the air, various frictions and so on. Therefore, it is difficult for ordinary linear control methods to accomplish satisfactory control performance in a pneumatic servo system. In this note, we propose a design scheme which combines a model reference adaptive control (MRAC) with a neural network (NN) for the pneumatic servo system with additive external forces. In this design scheme, NN linearizes a non-linear plant of the electro-pneumatic servo system. Then, MRAC is constructed to the linearized plant. Furthermore, difference process of the signals in the identification mechanism is introduced to eliminate the influence of the constant disturbances caused by the additive external forces. The effectiveness of the proposed design scheme is confirmed by experiments using the existent electro-pneumatic servo system.
一般社団法人日本機械学会の論文
2002-09-25