空気圧モータを用いた二重倒立振子の制御

概要

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The purpose of this study is to improve the control performance of radial piston type and vane type pneumatic motors and to investigate whether they can be used in a high-accuracy control system. In this paper, we consider the stabilizing and swinging up control system of a double-inverted pendulum as a high-accuracy control system. Firstly, some basic characteristics of the pneumatic drive, consisting of a pneumatic motor and a control valve, were investigated. Secondly, digital controllers for stabilizing and swinging up were designed taking into consideration the time lag of the pneumatic driving part. As a result, these controllers could stabilize a double-inverted pendulum and could swing up and stabilize a single-inverted pendulum well, with both types of pneumatic motor.
一般社団法人日本機械学会の論文
1993-01-25