Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Position Control of a Pneumatic Cylinder with a Nonlinear Compensator and a Disturbance Observer

비선형 보상기와 외란관측기를 이용한 공기압 실리더의 위치제어

  • Published : 2002.09.01
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Abstract

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.

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References

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Cited by

  1. A method of accurate position control with a pneumatic cylinder driving apparatus vol.20, pp.7, 2006, https://doi.org/10.1007/BF02915998