Displacement control of flexible pneumatic cylinder using disturbance observer and smith compensator

Wataru Kobayashi, Shujiro Dohta, Tetsuya Akagi, Yusuke Miyamoto, Naoki Kato, Kazuhisa Ito

研究成果: Article

抄録

This study is concerned with flexible pneumatic cylinder. The cylinder can be used in the various fields such as life support, medical, welfare systems which require light-weight, high flexibility, and high cleanliness. However, the control of the cylinder is insufficient and then it is needed to improve its control performance for widening of applications of the cylinder. Therefore, we propose combination of disturbance observer, which has a function of model matching, and Smith compensator, which compensates time delay of the system, with conventional PI control. To evaluate the control performance of the proposed control, some experiments are carried out. As a result, it is confirmed that the control performance of the proposed control can be drastically improved. In particular, it can be seen that the proposed control is effective for time delay of the system. The flexible cylinder with the proposed control scheme will be used in rehabilitation devices in practice.

元の言語English
ページ(範囲)594-599
ページ数6
ジャーナルInternational Journal of Mechanical Engineering and Robotics Research
8
発行部数4
DOI
出版物ステータスPublished - 2019 1 1

Fingerprint

Displacement control
Pneumatics
Time delay
Patient rehabilitation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence

これを引用

Displacement control of flexible pneumatic cylinder using disturbance observer and smith compensator. / Kobayashi, Wataru; Dohta, Shujiro; Akagi, Tetsuya; Miyamoto, Yusuke; Kato, Naoki; Ito, Kazuhisa.

:: International Journal of Mechanical Engineering and Robotics Research, 巻 8, 番号 4, 01.01.2019, p. 594-599.

研究成果: Article

Kobayashi, Wataru ; Dohta, Shujiro ; Akagi, Tetsuya ; Miyamoto, Yusuke ; Kato, Naoki ; Ito, Kazuhisa. / Displacement control of flexible pneumatic cylinder using disturbance observer and smith compensator. :: International Journal of Mechanical Engineering and Robotics Research. 2019 ; 巻 8, 番号 4. pp. 594-599.
@article{0220dd3d3b5b4233938eaf91923745e6,
title = "Displacement control of flexible pneumatic cylinder using disturbance observer and smith compensator",
abstract = "This study is concerned with flexible pneumatic cylinder. The cylinder can be used in the various fields such as life support, medical, welfare systems which require light-weight, high flexibility, and high cleanliness. However, the control of the cylinder is insufficient and then it is needed to improve its control performance for widening of applications of the cylinder. Therefore, we propose combination of disturbance observer, which has a function of model matching, and Smith compensator, which compensates time delay of the system, with conventional PI control. To evaluate the control performance of the proposed control, some experiments are carried out. As a result, it is confirmed that the control performance of the proposed control can be drastically improved. In particular, it can be seen that the proposed control is effective for time delay of the system. The flexible cylinder with the proposed control scheme will be used in rehabilitation devices in practice.",
keywords = "Displacement control, Disturbance observer, Flexible pneumatic cylinder, Smith compensator, Time delay",
author = "Wataru Kobayashi and Shujiro Dohta and Tetsuya Akagi and Yusuke Miyamoto and Naoki Kato and Kazuhisa Ito",
year = "2019",
month = "1",
day = "1",
doi = "10.18178/ijmerr.8.4.594-599",
language = "English",
volume = "8",
pages = "594--599",
journal = "International Journal of Mechanical Engineering and Robotics Research",
issn = "2278-0149",
publisher = "International Journal of Mechanical Engineering and Robotics Research",
number = "4",

}

TY - JOUR

T1 - Displacement control of flexible pneumatic cylinder using disturbance observer and smith compensator

AU - Kobayashi, Wataru

AU - Dohta, Shujiro

AU - Akagi, Tetsuya

AU - Miyamoto, Yusuke

AU - Kato, Naoki

AU - Ito, Kazuhisa

PY - 2019/1/1

Y1 - 2019/1/1

N2 - This study is concerned with flexible pneumatic cylinder. The cylinder can be used in the various fields such as life support, medical, welfare systems which require light-weight, high flexibility, and high cleanliness. However, the control of the cylinder is insufficient and then it is needed to improve its control performance for widening of applications of the cylinder. Therefore, we propose combination of disturbance observer, which has a function of model matching, and Smith compensator, which compensates time delay of the system, with conventional PI control. To evaluate the control performance of the proposed control, some experiments are carried out. As a result, it is confirmed that the control performance of the proposed control can be drastically improved. In particular, it can be seen that the proposed control is effective for time delay of the system. The flexible cylinder with the proposed control scheme will be used in rehabilitation devices in practice.

AB - This study is concerned with flexible pneumatic cylinder. The cylinder can be used in the various fields such as life support, medical, welfare systems which require light-weight, high flexibility, and high cleanliness. However, the control of the cylinder is insufficient and then it is needed to improve its control performance for widening of applications of the cylinder. Therefore, we propose combination of disturbance observer, which has a function of model matching, and Smith compensator, which compensates time delay of the system, with conventional PI control. To evaluate the control performance of the proposed control, some experiments are carried out. As a result, it is confirmed that the control performance of the proposed control can be drastically improved. In particular, it can be seen that the proposed control is effective for time delay of the system. The flexible cylinder with the proposed control scheme will be used in rehabilitation devices in practice.

KW - Displacement control

KW - Disturbance observer

KW - Flexible pneumatic cylinder

KW - Smith compensator

KW - Time delay

UR - http://www.scopus.com/inward/record.url?scp=85067003902&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85067003902&partnerID=8YFLogxK

U2 - 10.18178/ijmerr.8.4.594-599

DO - 10.18178/ijmerr.8.4.594-599

M3 - Article

AN - SCOPUS:85067003902

VL - 8

SP - 594

EP - 599

JO - International Journal of Mechanical Engineering and Robotics Research

JF - International Journal of Mechanical Engineering and Robotics Research

SN - 2278-0149

IS - 4

ER -