２自由度制御器とニューラルネットワーク補償器を併用した空気圧サーボ系の設計

• 橋本 強二

  徳島大学工学部機械工学科

• 今枝 正夫

  徳島大学工学部機械工学科

• 内田 正教

  徳島大学大学院

• 富澤 仁貴

  徳島大学大学院

書誌事項

タイトル別名

• A Design of a Pneumatic Servo System Using a two-degree-of-freedom Controller and a Neural Network Compensator
• 2ジユウド セイギョキ ト ニューラル ネットワーク ホショウキ オ ヘイヨウ シタ クウキアツ サーボケイ ノ セッケイ

抄録

In this paper, a combined control method using a two-degree-of-freedom controller and a neural network compensator is applied for trajectory control of a pneumatic cylinder. The two-degree-of-freedom controller consists of the I-PD controller,Smith's time delay compensator and disturbance compensator. The design procedure is essentially based on partial model matching which offers a reasonable way to simplify the design and controller configuration under disturbance rejection. In addition, a neural network compensator is used to compensate for modeling errors due to the non-linearity of the plant, and friction between cylinder and piston. Computer simulations and experiments of the trajectory control were carried out under various conditions. From the results summarized below, the effectiveness of the proposed control scheme could be confirmed :<br>(1) Excellent reference tracking performance was obtained by adding the neural network compensator.<br>(2) Excellent control performance for step disturbance was obtained.

収録刊行物

• 日本フルードパワーシステム学会論文集

  日本フルードパワーシステム学会論文集 35 (3), 43-48, 2004

  一般社団法人 日本フルードパワーシステム学会

キーワード

• Pneumatic cylinder
• Trajectory control
• Two-degree-of-freedom control
• Model matching
• Robust control
• Neural network compensator

詳細情報

• CRID: 1390001205254525184
• NII論文ID: 10029929749
• NII書誌ID: AA11597760
• ISSN: 13467719
• ISSN: 13497022
• ISSN: 18803121
• DOI: 10.5739/jfps.35.43
• NDL書誌ID: 6953398
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6953398
• Web Site: http://www.jstage.jst.go.jp/article/jfps/35/3/35_3_43/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可