采用二自由度PI控制方法对垂直轴作动器气缸进行多点定位控制

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI:10.1109/AMC.1996.509382

H. Kawanaka, K. Hanada

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引用次数: 0

摘要

近年来，气缸已成为工业机器人Z轴(纵轴)执行器和升降部件的常用执行器。采用二自由度PI控制器对系统进行多点定位控制。仿真和实验结果表明，该控制系统能够有效地改善多点定位的超调量或欠调量及沉降时间。

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Many points positioning control of a pneumatic cylinder for a vertical axis actuator using two degrees of freedom PI control method

Recently, pneumatic cylinders have become favorite actuators utilized as Z axis (vertical axis) actuators of industrial robots and for lifting or lowering parts. Two degrees of freedom PI controller is applied to the system for many-points positioning control. From some simulations and experiments, it is confirmed that the proposed control system is effective to improve the overshoot or undershoot and settling time for many points positioning.

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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

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