気液可逆反応を利用したガス圧アクチュエータ

―第５報 変位フィードバック制御の実現―

抄録

Pneumatic actuator needs an air-compressor and air supply tubes, which lowers its mobility and applicability. To solve this problem, we developed a gas actuator using the gas/liquid reversible chemical reaction. While pressure control was successfully realized, the actuator has not achieved position control, which is often used in practical applications. This paper, therefore, proposes a position control method for the gas actuator, using a displacement sensor outside based on bang-bang control. In the position servo experiment, the actuator is successfully controlled by the proposed control method: the measured position well follows the reference signal of a sinusoidal wave whose frequency and amplitude are 0.07 Hz and 0.5 mm, respectively.