空気圧シリンダの低速駆動時に見られるカオス的振動

概要

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Operating pneumatic cylinders at low velocities, large variation of the friction force acting on the contacting surface between the piston and cylinder wall often causes several characteristic phenomena such as stick-slip motion and random oscillation in the piston velocity. Such phenomena put obstacles to accurate control of the pneumatic cylinders. This paper aims to examine the random oscillation and to account for it in relation to the friction. To begin with, we use an analytical approach with a mathematical model including the effect of the friction in order to investigate the aspects of the velocity responses in the meter-in and meter-out circuit. Then, an experimental study is carried out and shows based on some chaos indices such as Lyapunov exponents that the random oscillation becomes chaotic in the actual situation in certain regions relating to the valve opening area. Moreover, the effect of supply pressure changes and that of load changes are also examined. Finally, from these results we discuss the relation between chaotic behavior and the friction and make it clear that the dynamic behavior is due to the nonlinearity of the friction force.
社団法人日本機械学会の論文
2000-08-25