Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
권호 표지
DOI QR코드

DOI QR Code

Model Reference Adaptive Control of the Pneumatic System with Load Variation

부하 변동 공압계의 모델 기준 적응제어

  • Oh, Hyeon-il (Mechanical System Engineering, Kumoh National Institute of Technology) ;
  • Kim, In-soo (Mechanical System Engineering, Kumoh National Institute of Technology) ;
  • Kim, Gi-bum (Mechanical System Engineering, Kumoh National Institute of Technology)
  • 오현일 (금오공과대학교 기계시스템공학과) ;
  • 김인수 (금오공과대학교 기계시스템공학과) ;
  • 김기범 (금오공과대학교 기계시스템공학과)
  • Received : 2015.03.02
  • Accepted : 2015.05.18
  • Published : 2015.06.30
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a model reference adaptive control (MRAC) scheme is applied for the precise and robust motion control of a pneumatic system with load variation. The reference model for MRAC is designed systematically using linear quadratic Gaussian control with loop transfer recovery (LQG/LTR). The sigmoid function of inverse velocity is used to compensate for the nonlinear friction force between the sliding parts. The experimental results show that MRAC effectively overcame the limit of the PID controller when there was unknown disturbance, including abrupt load variation and model uncertainty in the pneumatic control system.

Keywords

References

  1. Bar-Cohen Y., "Electro-active polymers: current capabilities and challenges", Proceedings of the SPIE Smart Structures and Materials Symposium EAPAD Conference, Paper 4695-02, 2002.
  2. S. H. Cho., "Adaptive Control Based Velocity and Pressure Control for Infection Molding Cylinder", The Korea Society of Fluid Power & Construction Equipments, Vol. 9, No. 3, pp.1-7, 2012.
  3. Kim, K. B., "The Study on Modeling and Robust Control Method of Proportional Valve and Hydraulic Positioning System", Ph. D. Dissertation, Graduate School of Kumoh National Institute of Technology, 2012.
  4. Park, H. J., "Position control of a pneumatic rodless cylinder by using the pressure compensative PID controller", Master's Thesis, Graduate School of Kunsan National University, 2005.
  5. Tzafestas, C. S., "Adaptive Impedance Control Applied to a Pneumatic Legged Robot", Journal of Intelligent and Robotic Systems, Vol. 20, pp.105-129, 1997. https://doi.org/10.1023/A:1007987608963
  6. Seo, J. D., Lee, S. K. and Kim, G. H., "Position control of a pneumatic cylinder", 2006 Spring Conference of Korean Society of Manufacturing Process Engineers, pp. 178-183, 2006.
  7. Kwon, S. H., Choi, W. S., Chung, S. W., Park, J. M., Kwon, S. G. and So, J. D., "Position Control of a Pneumatic Cylinder Actuator using PLC and Proximity Sensors", Journal of the Korean Society of Manufacturing Process Engineers, Vol. 7, No. 3, pp. 1-6, 2010.
  8. Tae-Bong Lee, Hyunsuk Yang, Byung-Han Kim., "Adaptive Robust Control of Mechanical Systems with Uncertain Nonlinear Dynamic Friction", Journal of the Korea Academia-Industrial Cooperation Society, Vol 12, No. 11, pp. 5194-5201, 2011. https://doi.org/10.5762/KAIS.2011.12.11.5194
  9. Yao, B., Bu, F. and Chiu, G. T. C., "Nonlinear adaptive robust control of electro-hydraulic servo systems with discontinuous projections", Proceedings of the IEEE Conference on Decision and Control, pp. 2265-2270, 1998.
  10. Garagic, D. and Srinivasan, K., "Application of nonlinear adaptive control techniques to an electro-hydraulic velocity servomechanism", IEEE Transactions on Control Systems Technology, 12 (2), pp. 303-314, 2004. https://doi.org/10.1109/TCST.2003.822485
  11. Han, S. I. and Kim, J. S., "Nonlinear Quadratic Gaussian Control with Loop Transfer Recovery, Mechatronics 13, pp. 273-293, 2003. https://doi.org/10.1016/S0957-4158(01)00053-8
  12. Kim, K. B., Kim, I. S., Kim, Y. S. and Kim, J. S., "The Control of a Proportional Solenoid Valve Using LQG/LTR", Transactions of the Korean Society of Mechanical Engineers, Vol. 35, No. 12, pp. 1607-1612, 2011. https://doi.org/10.3795/KSME-A.2011.35.12.1607