機械式フィードバックによる空圧位置決め装置のモデル化と特性解析

抄録

The pneumatic positioning system has advantages such as explosion-proof, operable even at power failure, simple structure, easier maintenance and low price. Therefore, applications in a large field are expected. In this study, we propose a model of pneumatic positioning system with mechanical feedback with the aim of realizing inexpensive advanced control system incorporating highly reliable controller and simple mechanism. Then, by conducting simulation and comparing it with experimental results, we verify the effectiveness of the characteristic analysis by simulation using the proposed model. First, a model of the pneumatic positioning system is built with the equation of motion of the constituent elements, and parameters are identified with reference to the experimental apparatus. Next, a simulation model is created and simulation is performed. Then, step response experiments are carried out using a pneumatic positioning system incorporating a cylinder. Finally, by comparing experimental results and simulations, we verify the effectiveness of the characteristic analysis by simulation using the proposed model. In this paper, step response experiments were carried out using two different stroke length of cylinders, and the results of the step response experiments and the simulations were compared. As a result, both transient characteristics are nearly identical. Therefore, it is proved that the proposed model of pneumatic positioning system is effective for analysis of transient characteristics of a system incorporating various cylinders. And we got the prospect that the characteristics of the pneumatic positioning system analyzed by simulation using the proposed model can be used for developing new applications.