制御系の0形化による空気圧サーボの位置決め制御

抄録

Pneumatic drive systems have higher output/weight ratio than electric or hydraulic systems, which make the total system compact and are expected to be applied in an industrial area. However, due to the compliant property of the air compressibility, it is easily affected by the frictional force and is not easy to identify the plant parameters. In order to effectively compensate for these influence, we propose 0-type control system focusing on disturbance observer’s model matching function. Identification function is also introduced to improve the transient response as well as positioning accuracy.