空気圧サーボ系のSTC

抄録

In a pneumatic servo system, since the change in load mass and air compressibility cause parameter variation of the plant, it is difficult to achieve high control performance by using PID or optimal control methods. So an adaptive control has been introduced to improve the control performance. In almost works, a pneumatic servo system has been considered as a deterministic one. However, in existent pneumatic servo systems, not only deterministic disturbances but also static disturbances such as observation noises exist. In this paper, we propose a new design scheme of a minimum variance type adaptive pole-placement control for the existent pneumatic servo system. This design scheme works well even in the presence of constant disturbances caused by the additive external forces. The effectiveness of this design scheme is confirmed by the experiment.