한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제25권2호
  • /
  • Pages.140-147
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  • 2008
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

신경회로망을 이용한 공압 서보실린더의 운동제어

Motion Control of Pneumatic Servo Cylinder Using Neural Network

  • 조승호 (홍익대학교 기계.시스템디자인공학과)
  • 발행 : 2008.02.01
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초록

This paper describes a Neural Network based PD control scheme for motion control of pneumatic servo cylinder. Pneumatic systems have inherent nonlinearities such as compressibility of air and nonlinear frictions present in cylinder. The conventional linear controller is limited in some applications where the affection of nonlinear factor is dominant. A self-excited oscillation method is applied to derive the dynamic design parameters of linear model. Based on the parameters thus identified, a PD feedback compensator is designed first and then a neural network is incorporated. The experiments of a trajectory tracking control using the proposed control scheme are performed and a significant reduction in tracking error is achieved by comparing with those of a PD control.

키워드

참고문헌

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