小容量ショートストローク空気圧シリンダのためのむだ時間を考慮した2自由度最適サーボ系の構成法

概要

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This paper presents positioning control of a pneumatic cylinder with a short stroke and small capacity. The pneumatic cylinder is practically useful because of low cost, no pollution, and safety. However, from the viewpoint of control, it is necessary for precise action to overcome sensitivity to disturbances and friction forces due to air compressibility. In addition, the control performance of the small cylinder rather depends on the ratio of the capacity of a pipeline system to cylinder capacity. The larger pipeline often makes system responses delayed and it is closely related to pressure loss. The design method of a two-degree-of-freedom optimal control system for a discrete-time plant with time delay is derived based on a continuous-time case and then applied to the positioning control of such a small pneumatic cylinder in this study. This method is capable of compensating the time delay in control inputs by means of a state predictor and avoiding the deterioration of system stability caused by integral compensators. Experimental investigation shows the effects of the pipeline system to the system responses and the performance of the control system.
社団法人日本機械学会の論文
2000-08-25