Minimal Control Synthesis手法による空気圧シリンダシステムの位置制御

概要

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The minimal control synthesis (MCS) algorithm is a simplified adaptive control strategy, since no prior knowledge of plant dynamic parameters is required. Furthermore it is suitable when a small sampling is required, because of the reduction of on-line calculation. The purpose of this paper is to present implementation results of MCS algorithm on a position control system of a pneumatic horizontal and vertical cylinder using proportional control valves. Introducing a switching friction compensation, two kinds of MCS controller are tested in experiment and the results are compared with the conventional PI controller. In order to investigate the robustness of the MCS algorithm, the supply air pressure is changed during the experiment and the disturbance force is also exerted on the piston. The experimental results reveal the good adaptation and robustness of the MCS algorithm.
社団法人　日本フルードパワーシステム学会の論文