High-Performance Positioning of Pneumatic Actuators by Passive Dynamic Control

1. 被动动态控制（被动动态控制）是一种基于固有安全设计的机械系统的新型控制方法，它将移动操作和平衡操作分开进行。控制过程分为三个步骤（保持步骤、不平衡步骤和自由步骤），在每个步骤中，只有在准备和确认后才允许执行。在PDC中，制动机构的被动控制起着重要的作用。PDC是一种更安全、更节能、更稳定的控制方法，但在基本序列中没有考虑控制性能。在本研究中，我们建立了PDC的基本理论，并研究了提高控制性能的方法。此外，在定位控制中使用功能化弹簧平衡器，通过实验验证了其有效性。本文将PDC应用于气动缸的定位控制，这是本研究的主要目的。针对基于基本PDC的控制存在较大超调量的问题，提出了在目标位置之前设置保持起点（HSP）的方法，并对其有效性进行了验证。此外，还提出了一种利用双气罐对气压进行微调的方法，消除了气压对制动器的振荡。验证了两种方法在连续定位和带载荷定位等情况下的有效性。最后，利用两个气缸在x-y平面上制作了定位控制实验装置，并进行了预实验。

1. Establishment of Theory of Passive Dynamic Control (PDC)The passive dynamic control (PDC) is a new control method for mechanical systems, which has the moving operation and the balancing operation separately, and it is based on the inherently safe design. The control process is divided into three steps (hold step, unbalance step, and free step), and in each step, execution is permitted only after preparation and confirmation. In the PDC, the passive control by brake mechanism plays an important role. The PDC is a control method with more safety, less energy, and good stability, but the control performance is not considered in the basic sequence. In this research, we have established the fundamental theory of the PDC, and have examined methods to improve the control performance. Furthermore, in positioning control using the functionalized spring balancer, we have checked its effectiveness through experiments.2. Positioning of Pneumatic Cylinders by Passive Dynamic ControlWe have applied the PDC to positioning control of pneumatic cylinders, which was the main purpose of this research. Since the control based on the basic PDC has large overshoot, we have proposed to set the hold start point (HSP) before the target position, and the effectiveness was examined. Furthermore, a method of fine-adjusting air pressure using two tanks has been shown, and it was shown that the oscillation of the pressure to the brake was eliminated. For both methods, effectiveness was verified for the cases such as continuous positioning and positioning with load. Finally, we made experimental equipments for positioning control with two pneumatic cylinders on a x-y plane, and had a pre-experiment.