제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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- Pages.193-196
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- 1996
Hybrid I-PD control for pneumatic cylinders with fuzzy theory
- Inohana, Kenichiro (Department of Electronics and Communications, Meiji University) ;
- Fujiwara, Atsushi (Department of Electronics and Communications, Meiji University) ;
- Ishida, Yoshihisa (Department of Electronics and Communications, Meiji University)
- 발행 : 1996.10.01
초록
A pneumatic cylinder has been used in the production facilities of various industries. However, it is difficult to achieve deciding the precise position of the piston rod, due to the nonlinear properties arising from the air compression and the friction. In recent years, the fuzzy control algorithm has been frequently applied to various kinds of systems on account of its simple algorithm, good adaptability to complex or nonlinear systems and so on. On the other hand, the PID or I-PD control has been used in many engineering fields because of the excellent performance. However, it is known that each one of them has disadvantages. In this paper, we propose a hybrid control which is strived to obtain the advantages of each other. It is shown that the proposed hybrid control performs better than the conventional I-PD control through the experimental results.