ソフトウェア曲線に従った空気圧シリンダの速度および位置制御

概要

論文の詳細を見る
In order to apply pneumatic cylinders to actuators of machines and equipments for flexible automation such as the robots, accurate velocity control together with precise position control is indispensable. The electric servomotors utilized in advanced robots are controlled by computers following excellent software curves through which smooth starts and stops as well as high-speed driving and accurate positioning of the robot manupurators, are achieved. Software servocontrol of a pneumatic cylinder was investigated in this study. As a reference curve for velocity and position, the modified trapezoidal curve was chosen and stored in the computer's memory cells in a digital system. In addition to PD and PID feedback control of the position and velocity deviation, the feedforward control method for velocity and acceleration of the cylinder was examined. It is confirmed experimentally that the software servocontrol applied in this study is applicable for the advanced control of the pneumatic actuators.
一般社団法人日本機械学会の論文
1989-12-25