抄録
This paper describes a new method to control a pneumatic cylinder with less overshoot.
The pneumatic cylinder has been used as an actuator for industrial robots, because it is simple and economical.
However, it is difficult to decide precisely the position of the piston rod, due to the air compression and the friction of the device itself.
There is optimal control in one of the positioning control methods of the pneumatic cylinder. This is the method that decides feedback gain by which the cost function becomes minimum. In this method the overshoot becomes great due to the selection of the cost function or the weighting matrix.
We propose a method that increases the amplifier gain after the control system has been constructed by the optimal control theory. Furthermore, we examine how the overshoot decreases by this method.
According to the experimental results, the overshoot decreases by increasing the amplifier gain and settling time is faster than in the case that the amplifier gain is 1. This method is also effective when the weight of the load changes.
