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The paper describes a technique that compensates a friction in pneumatic cylinder to perform the position control. The friction is one of the most common nonlinearities present in pneumatic actuating systems. For accurate position control and low velocity control, control strategies usually rely on accurate estimation of friction. This paper presents a observer to estimate the friction force in the pneumatic cylinder from the pressures in cylinder chambers. Also, the stiction compensation of a pneumatic cylinder is obtained by adding pulses to the control signal using impulsive control. The characteristics of the pulses in impulsive control are determined from the control action. The simulation results are proved that the method proposed here is effective.
목차
Abstract
1. 서론
2. 공기압 실린더의 위치제어계
3. 제어기 설계와 제어계 응답특성 비교
4. 결론
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참고문헌
참고문헌 (7)
참고문헌 신청
1. [학술대회논문] - Pu, J. / 1993 / A Study of Gain-Scheduling Method for Controlling the Motion of Pneumatic Servos / 6th Bath International Fluid Power Workshop : 193 ~ 209
2. [학술지(정기간행물)] - Kadowaki, K. / 1998 / Robust Control for Pneumatic Cylinder Using μ-synthesis / The Japan Hydraulics & Pneumatics Society 29 (1) : 1 ~ 8
3. [학술지(정기간행물)] - Noritsugu, T. / 1995 / Positioning Control of Pneumatic Servo System with Pressure Control Loop Using Disturbance Observer / Trans. of the Society of Instrument and Control Engineers 31 (12) : 1970 ~ 1977
4. [학술지(정기간행물)] - Lee, S. H. / 2000 / Direct Adaptive Control for Trajectory Tracking Control of a Pneumatic Cylinder / Transactions of the KSME, A 24 (12) : 2926 ~ 2934
5. [학술지(정기간행물)] - Matsukuma, T. / 1998 / PID Control of Pneumatic Cylinders Using Neural Networks / The Japan Hydraulics & Pneumatics Society 30 (1) : 28 ~ 33
2. [학술지(정기간행물)] - Kadowaki, K. / 1998 / Robust Control for Pneumatic Cylinder Using μ-synthesis / The Japan Hydraulics & Pneumatics Society 29 (1) : 1 ~ 8
3. [학술지(정기간행물)] - Noritsugu, T. / 1995 / Positioning Control of Pneumatic Servo System with Pressure Control Loop Using Disturbance Observer / Trans. of the Society of Instrument and Control Engineers 31 (12) : 1970 ~ 1977
4. [학술지(정기간행물)] - Lee, S. H. / 2000 / Direct Adaptive Control for Trajectory Tracking Control of a Pneumatic Cylinder / Transactions of the KSME, A 24 (12) : 2926 ~ 2934
5. [학술지(정기간행물)] - Matsukuma, T. / 1998 / PID Control of Pneumatic Cylinders Using Neural Networks / The Japan Hydraulics & Pneumatics Society 30 (1) : 28 ~ 33
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UCI(KEPA) : I410-ECN-0101-2014-500-002348829