마찰력 보상을 고려한 공기압 실린더의 위치제어

다국어 초록 (Multilingual Abstract)

The paper describes a technique that compensates a friction in pneumatic cylinder to perform the position control. The friction is one of the most common nonlinearities present in pneumatic actuating systems. For accurate position control and low velocity control, control strategies usually rely on accurate estimation of friction. This paper presents a observer to estimate the friction force in the pneumatic cylinder from the pressures in cylinder chambers. Also, the stiction compensation of a pneumatic cylinder is obtained by adding pulses to the control signal using impulsive control. The characteristics of the pulses in impulsive control are determined from the control action. The simulation results are proved that the method proposed here is effective.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 공기압 실린더의 위치제어계
• 3. 제어기 설계와 제어계 응답특성 비교
• 4. 결론
• 후기
• 참고문헌

참고문헌 (Reference)

1 Kadowaki, K., "Robust Control for Pneumatic Cylinder Using μ-synthesis" 29 (29): 1-8, 1998

2 Noritsugu, T., "Positioning Control of Pneumatic Servo System with Pressure Control Loop Using Disturbance Observer" 31 (31): 1970-1977, 1995

3 Matsukuma, T., "PID Control of Pneumatic Cylinders Using Neural Networks" 30 (30): 28-33, 1998

4 Lee, S. H., "Direct Adaptive Control for Trajectory Tracking Control of a Pneumatic Cylinder" 24 (24): 2926-2934, 2000

5 T. Hägglund, "A friction compensator for pneumatic valves" 12 : 897-904, 2002

6 Z. J. Zhang, "A Study of High Speed Pneumatic Cylinder with a H∞ Control" 17-22, 2011

7 Pu, J., "A Study of Gain-Scheduling Method for Controlling the Motion of Pneumatic Servos" 193-209, 1993