防爆式空気圧ロボットの動特性解析と安定化法(機械力学,計測,自動制御)

概要

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This paper describes the development of an explosion-proof pneumatic robot for use in the chemical or oil industry. For such a robot, the electric part must be completely separated from the combustible gas. In our study, a pneumatic robot is designed in which the robot controller is linked with an actuator by a long pneumatic tube in order to prevent explosion. Then, the robot system is modeled as a nonlinear time-delay system as used in the aerodynamic analyses, and the validity of this model is confirmed through simulation and experimental studies. However, the robot manipulator will generate hunting due to the time lag of pneumatic pressure signals. Thus, a two-step PID controller is proposed, which not only prevents hunting but also reduces the steady-state error to zero. The effectiveness of this PID controller has been verified through simulation and experiments. Moreover, the stability margins for the pneumatic tube length are evaluated.
社団法人日本機械学会の論文
1997-04-25