ブレーキ操作による禁止を基にした囲い込み制御

概要

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Passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design using a braking mechanism effectively. In this paper, follow-up control of pneumatic cylinders using PDC is described. Because conventional control methods using only an actuator do not have a stopping mechanism, it is difficult to prevent the controlled object from deviating from the target trajectory. On the other hand, PDC can prevent deviations of the controlled object, and return it to the target trajectory. Since this control was developed with an image of enclosing the controlled object to the target trajectory by gradually narrowing the wide area around the target trajectory, it is referred to as “enclosing control”. An experimental setup using two PDC pneumatic cylinders equipped with electromagnetic friction brakes and load cells was developed. The effectiveness of the enclosing control method is verified through experiments of follow-up control for a circular trajectory and compared with PI control. In addition, the enclosing control method is applied to follow-up control for a straight line trajectory.