空気圧サーボ系の圧力センサレス制御のためのオブザーバ(機械力学,計測,自動制御)

概要

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Pneumatic cylinder servo systems are characterized by high nonlinearities such as the compressibility of air and friction in their sliding parts. An approach to enhancing the control performance of such systems is to construct a pressure feedback control loop in their innermost. However, this requires the acquisition of the pressures in each cylinder chamber, and this acquisition typically depends on the use of costly pressure sensors in practical situations. This paper presents the development of a nonlinear observer to estimate the cylinder chamber pressure from the position sensor output and the valve operating command for replacing these sensors. This observer is designed based on the Lyapunov approach in order to ensure the convergence of the error between the actual and estimated pressures to zero. By incorporating not only designed pressure observers but also a friction observer into a pneumatic servo system for position control, a pressure sensorless control system equipped with only a position sensor is constructed. Experimental results show that this system provides good performance in spite of low cost.
社団法人日本機械学会の論文
2007-12-25