外乱を伴う空気圧サーボ系の二重構造形適応制御

概要

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In this paper, we propose a design scheme of a double structure type adaptive control for a pneumatic servo system with additive external forces. In this design scheme, the unknown parameters are identified at first and a choice is made on whether the plant model should be minimum-phase or not. This choice depends on the discrete-time plant model of the pneumatic servo system which changes to a minimum phase or a non-minimum phase through a difference in the sampling period and the load mass [1]. Then, a model reference adaptive control system (MRACS) is adopted in the case of the minimum phase and an adaptive pole assignment control system (APACS) is used in the other case. Furthermore, in this design scheme, a different process regards of the signals in the identification mechanism and the compensator in the controller are 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 pneumatic servo system with additive external forces.
一般社団法人日本機械学会の論文
1998-08-25