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Position Control of a Pneumatic Cylinder with a Nonlinear Compensator and a Disturbance Observer

장지성 
  • 초록

    A position controller which can achieve a specified dynamic performance irrespective of the different operating position of the pneumatic cylinder is proposed. The position controller developed in this paper is composed of a nonlinear compensator and a disturbance observer. The nonlinear compensator which feeds back position, velocity and acceleration is derived from the nonlinear dominating equations of the position control system to compensate for variation of dynamic characteristics of a pneumatic cylinder according to the change of the operating position. The disturbance observer including a simplified linear model is designed to reduce the effect of model discrepancy in the low frequency range which cannot be suppressed by the nonlinear compensator. The results of the experiments show that the position control performance maintains a designed performance regardless of the variations of an operating position of the pneumatic cylinder.


  • 주제어

    공기압 실린더 .   동작 위치 .   위치제어 .   비선형 보상기 .   외란 관측기.  

  • 참고문헌 (10)

    1. Noritsugu, T., 1993, 'Control Characteristics of Pneumatic Cylinder,' The Japan Hydraulics & Pneumatics Society, Vol. 24, No.7, pp. 775-780 
    2. DRAFT INTERNATIONAL STANDARD, ISO/DIS 6358 
    3. Kagawa, T., 1991, 'Air Temperature Change of Pneumatic Cylinder with Meter-out Control and Its Effect on the Velocity,' FLUCOME'91, pp. 549-554 
    4. Hanafusa, H., 1982, 'Design of Electrohydraulic Servo Control Systems for Articulated Robot Arm Control,' The Japan Hydraulics & Pneumatics Society, Vol. 20, No. 7, pp. 429-436 
    5. Helduser, S. and Muth, A., 1996, 'Dynamic Friction Measurement Method Evalution by Means of Cylinders and Valves,' Third JHPS international Symposium, pp. 271-276 
    6. Noritsugu, T. and Takaiwa, M., 1995, 'Positioning control of Pneumatic Servo System with Pressure Control Loop Using Disturbance Observer,' Trans. of the Society of Instrument and Control Engineers, Vol. 31, No. 12, pp. 1970-1977 
    7. Lee, S. H. and Jang, C. H., 2000, 'Direct Adaptive Control for Trajectory Tracking Control of a Pneumatic Cylinder,' Transactions of the KSME, A, Vol. 24, No. 12, pp. 2926-2934     
    8. Matsukuma, T., Song, J., Ishida, Y. and Notoyama, S., 1999, 'PID Control of Pneumatic Cylinders Using Neural Networks,' The Japan Hydraulics & Pneumatics Society, Vol. 30, No. 1, pp. 28-33 
    9. Pu, J., Moore, P. R., Harrison, R. and Weston, R. H., 1993, 'A Study of Gain-Scheduling Method for Controlling the Motion of Pneumatic Servos,' 6th Bath International Fluid Power Workshop, pp. 193-209 
    10. Kadowaki, K., Inohana, K., Ishida, Y. and Notoyama, S., 1998, 'Robust Control for Pneumatic Cylinder Using ${\mu}$-synthesis,' The Japan Hydraulics & Pneumatics Society, Vol. 29, No. 1, pp. 1-8 
  • 이 논문을 인용한 문헌 (6)

    1. Jang, Ji-Seong 2004. "Synchronous Position Control of Pneumatic Cylinder Driving Apparatus" 大韓機械學會論文集. Transactions of the Korean Society of Mechanical Engineers. A. A, 28(9): 1415~1421     
    2. 2006. "" Journal of mechanical science and technology, 20(7): 993~1001     
    3. Kim, Gun-Hoi ; So, Jung-Duck 2008. "Displacement Control of Pneumatic Actuator Equipped with PLC and Proximity Sensors" 한국공작기계학회논문집 = Transactions of the Korean society of machine tool engineers, 17(2): 90~96     
    4. Kim, Sung-Dae 2009. "Design of the PD Controller in the I-PD Control System for Position Control" 信號處理·시스템學會 論文誌 = Journal of the institute of signal processing and systems, 10(4): 262~266     
    5. Kam, J.S. ; Oh, D.H. ; Lee, I.Y. ; Kim, J.W. ; Lee, H.C. 2013. "Synchronization Control of Two Hydraulic Cylinders Using Feedback Linearization Compensator and Disturbance Observer" 유공압건설기계학회지 = Journal of the Korean Society for Fluid Power and Construction Equipments, 10(3): 14~20     
    6. Jang, Ji Seong 2015. "Accurate Positioning with a Pneumatic Driving Apparatus" 드라이브ㆍ컨트롤 = Journal of drive and control, 12(4): 21~27     

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