抄録
This paper deals with a new method for optimal control of pneumatic cylinders with a disturbance observer. The pneumatic cylinder has been used as an industrial actuator, because it is simple, small and economic. The PID or I-PD controller is used for position control of the cylinder, because its performance is excellent. However it is difficult to decide precisely the position of piston rod, owing to air compression and friction of the device itself. Furthermore, the dynamic response of these controllers depend on their control gains. Therefore these gains should be adjusted properly when the controlled object is changed. So, we consider the variation of the controlled object as a disturbance, and try to make compensation for its inference. We compose a better robust system from the disturbance observer with LQI controller. The experimental result shows that the proposed method has a better performance than the conventional LQI controller.
