Application of PI-D Controller and Flow Disturbance Observer for a Pneumatic Positioning Stage

カテゴリ: 全国大会

論文No: 3-009

グループ名: 【全国大会】平成22年電気学会全国大会論文集

発行日: 2010/03/05

タイトル(英語): Application of PI-D Controller and Flow Disturbance Observer for a Pneumatic Positioning Stage

著者名: Mohebullah Wali(Tokyo University of Agriculture and Technology),Atsushi Yanagawa(Tokyo University of Agriculture and Technology),Yukinori Nakamura(Tokyo University of Agriculture and Technology),Shinji Wakui(Tokyo University of Agriculture and Technology)

著者名(英語): Mohebullah Wali(Tokyo University of Agriculture and Technology),Atsushi Yanagawa(Tokyo University of Agriculture and Technology),Yukinori Nakamura(Tokyo University of Agriculture and Technology),Shinji Wakui(Tokyo University of Agriculture and Technology)

キーワード: Pneumatic Positioning Stage|PI-D Controller|Flow Disturbance Observer (FDO)

要約(日本語): Due to high speed ability, large travel range, the pneumatic control system is widely used. Therefore, a control system of pneumatic positioning stage based on air pressure is considered in this study. However, due to compressibility of air, the air pressure fluctuates inside the cylinders which appear as flow disturbance. Mechanical disturbance also exists due to nonlinear frictions. These factors degrade the positioning accuracy. To improve the positioning accuracy, a PI-D compensator is implemented. However, applying only a PI-D controller is not sufficient, because the repeatability of the response can not be conformed due to mentioned disturbances. Therefore, flow disturbance observer (FDO) is proposed. FDO detects the estimated flow disturbance signal which is fed back to suppress the effects of flow disturbance.

原稿種別: 日本語

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