Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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The Precision Position Control of the Pneumatic Rodless Cylinder Using Recurrent Neural Networks

리커런트 신경회로망을 이용한 공압 로드레스 실린더의 정밀위치제어

  • 노철하 (금오공과대학교 기전공학과 대학원) ;
  • 김영식 (금오공과대학교 기계공학) ;
  • 김상희 (금오공과대학교 전자공학부)
  • Published : 2003.07.01
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Abstract

This paper develops a control method that is composed of the proportional control algorithm and the learning algorithm based on the recurrent neural networks (RNN) for the position control of a pneumatic rodless cylinder. The proportional control algorithm is suggested for the modeled pneumatic system, which is obtained easily simplifying the system, and the RNN is suggested for the compensation of the modeling errors and uncertainties of the pneumatic system. In the proportional control, two zones are suggested in the phase plane. One is the transient zone for the smooth tracking and the other is the small movement zone for the accurate position control with eliminating the stick-slip phenomenon. The RNN is connected in parallel with the proportional control for the compensation of modeling errors and frictions, compressibilities, and parameter uncertainties in the pneumatic control system. This paper experimentally verifies the feasibility of the proposed control algorithm for such pneumatic systems.

Keywords

References

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