電気空気圧サーボ系のδ-演算子を用いたMRACS

抄録

In pneumatic servo systems, since the change in load mass and air compressibility cause parameter variation of the plant, it is difficult to achieve high control performance. It is well-known that an adaptive control method is effective for such a plant with parameter variation. As the construction of the adaptive control system is usually complex, it is often realized as a discrete-time form by using a digital computer. In that case, the discrete-time model of the plant often become non-minimum phase. It is impossible to construct model reference adaptive control system (MRACS) for such a non-minimum phase plant.
In this paper, we propose a new design scheme of MRACS for a pneumatic servo system whose discrete-time model is non-minimum phase. In this design scheme, a δ-operator is introduced to construct MRACS for a non-minimum phase plant. We also show an improved design scheme which can achieve high positioning accuracy. The effectiveness of the proposed design scheme is verified by experiments using the existent servo system.