空気圧シリンダの学習的位置制御

概要

論文の詳細を見る
Position controls of pneumatic cylinder are generally very difficalt due to nonlinearity in the system such as friction in the ram and ramchamber compliance. A pneumatic cylinder system consisting of an electropneumatic servovalve and a double-acting ram is studied experimentally to determine the effective use of this system for position control of ram motion. A position feedback is equiped and a proportional compensator is designed. Four-point positioning controls are studied with the same waiting time at all points. The positioning errors without learning are of order of several millimeter. A learning control low is determined from the statistical quality of the positioning errors. The four-point positioning controls with the learning control law accomplish accumacy of the special resolution of the sensor when the waiting time is less than a certtan value. A follow-up control with learning, under which rthe ram presses assigned points at assigned time, also accomplish good accuracy.
一般社団法人日本機械学会の論文
1984-11-25