Safe and high-precision control of pneumatic systems using control method based on inherently safe design

本课题将基于本质安全设计的机械系统控制方法--被动动态控制(PDC)应用于气动系统。建立了实验装置，对直线气缸和旋转气缸进行了连续位置控制和随动控制，对两连杆气动橡胶人工肌肉机械手进行了循环随动控制，验证了该控制方法的有效性。并将其应用于商用空气平衡器中，结果表明，该方法在实际系统中是有效的。

This project applied the "Passive Dynamic Control(PDC)", which was the mechanical system control method based on the inherently safe design, to pneumatic systems. Experimental setups were developed, and the effectiveness was shown through continuous positioning control and follow-up control for both linear and rotary pneumatic cylinders, and circular follow-up control for two-link pneumatic rubber artificial muscles manipulator. Furthermore, the PDC was applied to commercial air-balancer, and it was shown that the PDC was effective to actual systems.