Adaptive position control of water hydraulic cylinder and its robustness

H. Takahashi, K. Ito, S. Ikeo

研究成果: Paper査読

抄録

Water hydraulic servo system is an attractive system for its environmental safety. In this system, the problem for precise control is the uncertainties and/or the unmodeled dynamics which includes parameter variations depending on driving conditions and nonlinearity of system e.g. friction force, flow characteristics. In this paper, we discuss the control performance of adaptive position controller for water hydraulic servo cylinder comparing with PI controller. More specified, based on the general least square method as a parameter update law, adaptive tracking controller is constructed and its robustness for parameter change are evaluated. The experimental results show that the adaptive controller has certain robustness for parameter changes, e.g. supply pressure changes and load fluctuations comparing with PI controller.

本文言語English
ページ2505-2509
ページ数5
出版ステータスPublished - 2005 12 1
外部発表はい
イベントSICE Annual Conference 2005 - Okayama, Japan
継続期間: 2005 8 82005 8 10

Conference

ConferenceSICE Annual Conference 2005
国/地域Japan
CityOkayama
Period05/8/805/8/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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