μシンセシスを用いた空気圧シリンダのロバスト制御
1998 年 29 巻 1 号 p. 1-8
詳細
1998 年 29 巻 1 号 p. 1-8
In this paper, we describe Point-to-Point control of a pneumatic cylinder using μ synthesis. So far, the pneumatic cylinders have been controlled by PID or I-PD controller, etc. The pneumatic cylinders are difficult to control owing to the delay of the pressure dynamics caused by the compression of the air, the friction force, the changes of the loading mass and so on. Therefore, we must re-tune the control gains. A robust control system must be designed considering modeling error caused by the changes of these characteristic values. A robust controller is designed by μ synthesis in which the changes of these characteristics are considered as the uncertainty of a nominal model. Moreover, the transient response is not perfect in the controller using μ synthesis. A two-degree-of-freedom control system is constructed to improve the transient response. Experimental results show the control effects.
