抄録
A water-hydraulic servo system in which an ann is driven by a single-rod cylinder is constructed. A water-hydraulic servovalve used in the system was obtained by modifying an oil-hydraulic one. Two types of motion control are implemented. One is a motion control based on a torque control using a disturbance torque observer. The other is a motion control only based on a position signal, in which an acceleration controller designed by H∞ control theory is used. Performance of these control methods are investigated experimentally. From the results, these motion control show better responses and robustness than a conventional PI position control.
