滑らか駆動を実現する空気圧シリンダのロバスト制御

概要

論文の詳細を見る
Pneumatic actuators are less expensive and have higher power/weight ratio than other types of actuators. On the other hand, it is very difficult to control the pneumatic actuators because of uncertainties caused by the nonlinear pneumatic circuit and large friction caused by mechanical contact between piston-ring and cylinder. Then the pneumatic actuator has hardly applied to precise positioning and smooth drive control.In this paper we applied optimal control theory and model feedback control scheme to control of the pneumatic cylinder in order to realize both the precise positioning and the smooth driving. The effectiveness of the proposed control system is shown through experiments. Results of these experiments are compared with the results which were carried out by fuzzy control logic.
社団法人電気学会の論文