論文ID: 17-00571
For pneumatic anti-vibration apparatus (AVA) used in the precision positioning field, the authors have pursued the possibility of applying Central Pattern Generator (CPG) and realized its application in order to suppress flow disturbance caused by the pressure variation of the compressed air supplied to the pneumatic AVA. In the past, CPG has been mainly used for generation of desired values, such as analysis of biological movement and motion control of a quadruped walking robot. On the other hand, CPG has been implemented in the loop of the control system to improve the damping ability of the structure by the mass damper. The authors have also tried to improve the suppression effect of the disturbance by implementing CPG in the same way. However, the background of determining the parameters of CPG is not shown in any relevant documents. Therefore, this paper describes the parameter setting method for implementing CPG to the pneumatic AVA in detail. In addition, the characteristics and performances of CPG which have not been mentioned so far are revealed. Concretely, when switch input and signs for CPG input stage are changed, the influence of these is verified. These are summarized as consideration for application of CPG to the pneumatic AVA.
