摩擦オブザーバを用いた空気圧サーボ系の位置決め制御(機械力学,計測,自動制御)

概要

論文の詳細を見る
A technique for compensating friction in a pneumatic servo system to perform position control is addressed in this paper. In our technique, a friction observer is introduced into the control system in order to cancel the effect of the friction, since it is capable of estimating dynamically varying friction. Prior to its application to the control system, a conventional friction observer is extended for adapting to a pneumatic actuator by taking account of the influence of pressure inside the cylinder chambers on the friction at the seal. The effect of this modification on the estimating accuracy is confirmed experimentally. The modified observer is also incorporated into a pneumatic positioning device based on pressure control, and the control performance on the positioning accuracy is evaluated. In addition, it is demonstrated that the device's control performance is maintained by using both the above observer and a velocity observer, even when neither an accelerometer nor a velocity sensor is used for the construction of the lower cost system.
社団法人日本機械学会の論文
2006-08-25