適応むだ時間補償器による空気圧サーボ系の特性改善

抄録

This paper describes a new design scheme of a discrete-time control for a pneumatic servo system with an adaptive time delay compensator. The control scheme given in the paper is capable of accommodating changes in time delay of pneumatic servo systems and similar linear systems with unknown or varying time delays and parameters. In addition, this control scheme rejects load disturbances without requiring an estimate of the disturbance and not producing an offset in the output. The derivation of the control scheme is based on a discrete formulation of the modified Smith time delay compensator and adaptive pole-placement strategy. The paper shows simulation results where the plant has a varying time delay and external disturbances and the laboratory experimental results where the pneumatic servo system has a system internal disturbance such as stick friction and additive load force in varying moving distance and load mass. The experimental results clearly show its superior performance and disturbance rejection.