摩擦力補償を用いた空気圧シリンダの位置決め制御

抄録

This paper deals with the position control of a pneumatic actuator in which the mechanical friction is not negligible. In our system, the rod chamber pressure of the cylinder remains constant, and the head chamber pressure is controlled using two solenoid valves. The valves are under PWM mode control. A dynamic mathematical model of the system incorporating the PWM solenoid valve is established to simulate the system characteristics. It is shown that the nonlinear mechanical friction causes a stick-slip response in the system. To increase system performance, pressure feedback is formed to decrease the stick-slip and nonlinear friction compensation is implemented to reduce the steady-state error due to the friction. The friction compensation is realized by using the information of the mechanical friction in the system. Simulation and experimental analysis shows that the proposed control strategy is effective.